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A consistent linearisation, using perturbation methods, is obtained for the structural degrees of freedom of flexible slender bodies with large rigid-body motions. The resulting system preserves all couplings between rigid and elastic motions and can be projected onto a few vibration modes of a reference configuration. This gives equations of motion with cubic terms in the rigid-body degrees of freedom and constant coefficients which can be pre-computed prior to the time-marching simulation. Numerical results are presented to illustrate the approach and to show its advantages with respect to mean-axes approximations. ⺠Beam kinematics with large rigid-body motions and small deformations. ⺠An assessment of all inertial couplings between degrees of freedom. ⺠Modal form of the equations of motion in terms with nonlinear rigid-body dynamics. ⺠Improvements shown with respect to mean axes approach used in flight dynamics.
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