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In this investigation, a new nonlinear finite element dynamic model for the analysis of three-dimensional belt drives and rubber chains in multibody tracked vehicles is developed. In the model developed in this investigation, belts and rubber chains are modeled as continuous deformable bodies using the finite element absolute nodal coordinate formulation (ANCF). Using this finite element formulation, nonlinear material constitutive equations can be used in a straight forward manner with structural elements such as beams and plates. In this study, a Mooney-Rivlin constitutive law that assumes incompressibility of the material is used to model the elastic behavior of the belts and rubber chains.