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Unlike traditional nonlinear structural dynamics formulation, due to the effect of finite rotations the deformation map takes values in \\({\\mathbb{R}}^ 3\\times SO(3)\\), which is a differentiable manifold and not a linear space. An implicit time stepping algorithm that furnishes a canonical extension of the classical Newmark algorithm to the rotation group (SO(3) is developed. In addition to second-order accuracy, the proposed algorithm reduces exactly to the plane formulation. Moreover, the exact linearization of the algorithm and associated configuration update is obtained in closed form, leading to a configuration-dependent nonsymmetric tangent inertia matrix. As a result, quadratic rate of convergence is attained in a Newton-Raphson iterative solution strategy. The generality of the proposed formulation is demonstrated through several numerical examples that include finite vibration, centrifugal stiffening of a fast rotating beam, dynamic instability and snap-through, and large overall motions of a free-free flexible beam. 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