The design of structures submitted to aerodynamic loads usually requires the development of specific computational models considering fluid-structure interactions. Models using structural frame elements are developed in several relevant applications such as, the design of advanced aircraft wings, wind turbine blades or power transmission lines. In the case of flexible frame structures submitted to fluid flows, the computation of inertial and aerodynamic forces for large displacements and rotations is a challenging task. In this article, we present a novel formulation for the efficient computation of aerodynamic forces in frame structures, coupling the co-rotational framework with the quasi-steady theory. A numerical procedure is provided considering a tangent matrix for the aerodynamic forces. This formulation is implemented in the open-source library ONSAS, allowing users to reproduce the results or solve other frame nonlinear dynamic problems. The proposed formulation and its implementation are validated through the resolution of four numerical examples. The formulation and the numerical procedure proposed efficiently provide accurate solutions for these challenging problems with large displacements and rotations.