I've been very impressed with mbdyn (http://www.aero.polimi.it/~mbdyn/). It's free, open source, and developed by academics with very strong backgrounds in multibody dynamics and aeroelasticity. It's designed to be flexible enough to interface to other simulation software like various CFD packages. If visualization is important to you, though, it does not have a GUI-type interface. For that, you would want to connect it to something like the open source solid modeling software, Blender (for which the package Blender and mbdyn - http://sourceforge.net/projects/blenderandmbdyn/) is excellent.