[ASME ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Las Vegas, Nevada, USA (September 4–7, 2007)] Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C - A Uniform Rotationless Formulation of Flexible Multibody Dynamics: Conserving Integration of Rigid Bodies, Nonlinear Beams and Shells