Theoretical and computational aspects of vector-like parametrization of three-dimensional finite rotations, which uses only three rotation parameters, are examined in detail in this work. The relationship of the proposed parametrization with the intrinsic representation of finite rotations (via an orthogonal matrix) is clearly identified. Careful considerations of the consistent linearization procedure pertinent to the proposed parametrization of finite rotations are presented for the chosen model problem of Reissner's non-linear beam theory. Pertaining details of numerical implementation are discussed for the simplest choice of the finite element interpolations for a 2-node three-dimensional beam element. A number of numerical simulations in three-dimensional finite rotation analysis are presented in order to illustrate the proposed approach.KEY WORDS: three-dimensional finite rotations; parametrization; computational procedure *One of the popular choices for three rotation parameters are the Euler angles, which have the well-known nonuniqueness problem (e.g. see Reference 2, p. 144)

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SUMMARYA quadrilateral membrane finite element with drilling degrees of freedom is derived from variational principles employing an independent rotation field. Both displacement based and mixed approaches are investigated. The element exhibits excellent accuracy characteristics. When combined with a plate bending element, the element provides an efficient tool for linear analysis of shells.