Owing to their low induced drag, high-aspect-ratio wings are often applied to aircraft, particularly high-altitude long-endurance aircraft. An analytical method that considers geometrical nonlinearity is necessary for the analysis of high-aspect-ratio wings as they tend to undergo large deformations. Nonlinear shell/plate or solid finite element methods are widely used for the static analysis of wing strength. However, an increase in the number of elements drastically increases the computational costs of nonlinear finite element methods owing to the complexity of wing shapes. The modal rotation method (MRM) can avoid this additional expense by analyzing large deformations based on modes and stiffness matrices obtained from any linear or linearized model. However, MRM has only been formulated as a static analysis method. In this study, a novel modal-based dynamic analysis framework, referred to as dynamic MRM (DMRM), is developed to analyze slender cantilever structures. This paper proposes a method to discretize dynamics by capitalizing on the fact that MRM considers geometrical nonlinearity based on deformed shapes. Additionally, a formulation method for the work performed by an external force modeled as a follower force is proposed. The energy stored in the structure was consistent with the work performed by an external force in each performed simulation. The proposed DMRM selects the modes used for analyses and systematically determines a time step according to the modes. DMRM achieved a 95% reduction in the calculation time compared with a nonlinear plate finite element method in a performed simulation.