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Abstract The convergence characteristics of three geometrically accurate spatial finite elements (FEs) are examined in this study using an eigenvalue analysis. The spatial beam, plate, and solid elements considered in this investigation are suited for both structural and multibody system (MBS) applications. These spatial elements are based on geometry derived from the kinematic description of the absolute nodal coordinate formulation (ANCF). In order to allow for an accurate reference-configuration geometry description, the element shape functions are formulated using constant geometry coefficients defined using the position-vector gradients in the reference configuration. The change in the position-vector gradients is used to definemore »