Rotary wing aeroelasticity is a highly complex phenomenon involving coupling between flexible blade dynamics and unsteady aerodynamics including stall and unsteady wake effects. In this paper, a low-cost computational aeroelastic model including the structural coupling from geometric parameters and nonlinearities associated with structural modeling and dynamic stall, applicable to steady, level forward flight, has been developed. The differential equations of motion are solved in time domain in a sequential manner to obtain the response of all the blades in the rotor system, the dynamic inflow variables, and the sectional loads at every time step. A fourth-order Runge-Kutta integration scheme has been adopted for solving the differential equations. Iterations are carried out until convergence is achieved in blade response and helicopter trim. The effect of blade geometric parameters such as pretwist, hinge offset, and torque offset on aeroelastic response of a helicopter rotor system is investigated numerically. It is shown that the structural coupling from blade geometric parameters significantly influences the rotor blade response and loads. © 2013 American Society of Civil Engineers.