Abstract: Large deformation of components in multibody systems is usually caused by relativelylarge rotation between the particles in the component. Finite rotational tensors are used to describelarge rotation. To model the motion of the component with finite element methods, the finiterotational tensor must be approximated by nodal paxameters and shape functions. What kind ofparameters are used to represent finite rotational tensor is a fundamental aspect in formalism ofmultibody systems. Euler parameters are most c...