8. Conclusions

A detailed development of the parametrization of constrained finite rotations for dynamics of shells is presented. We recognized that the incremental rotation vector parameterization is the most suitable choice for handling the dynamics of shells in the sense of:

• being able to avoid singularity problems;

• maintaining simple additive iterative updates for rotations; and

• being able to construct the displacement-like Newmark schemes for rotational degrees of freedom.