The vast deepwater wind resource represents a potential to use offshore floating wind turbines to power much of the world with renewable energy. Many floating wind turbine concepts have been proposed, but dynamics models, which account for the wind inflow, aerodynamics, elasticity, and controls of the wind turbine, along with the incident waves, sea current, hydrodynamics, and platform and mooring dynamics of the floater, were needed to determine their technical and economic feasibility. This work presents the development of a comprehensive simulation tool for modeling the coupled dynamic response of offshore floating wind turbines, the verification of the simulation tool through model-to-model comparisons, and the application of the simulation tool to an integrated loads analysis for one of the promising system concepts. A fully coupled aero-hydro-servo-elastic simulation tool was developed with enough sophistication to address the limitations of previous frequency- and time-domain studies and to have the features required to perform loads analyses for a variety of wind turbine, support platform, and mooring system configurations.