1. A method of designing the configuration of a bottom hole assembly including components that include at least one stabilizer, the bottom hole assembly being connected with a drill string that also includes a drill bit, the method including: modeling the bottom hole assembly configuration using Lubinski's bottom hole assembly equations by dividing the bottom hole assembly components into modules and segments such that the bottom hole assembly is characterized by not more than two nonlinear equations associated with two unknowns, wherein the modeling comprises: calculating profiles of the segments in a first, upper module; determining a first non-linear equation for a first segment that solves for a distance between the drill bit and a tangential point; calculating a side force at a lower stabilizer in another of any additional modules; calculating profiles of the segments of another of any additional modules; calculating a side force at a lower stabilizer and profiles of the segments for remaining modules except a last, bit module; calculating a side force at the drill bit; calculating profiles of the segments in the bit module; determining a second nonlinear equation for a bit segment that solves for a side force at an upper stabilizer; and calculating a distance between the drill bit and a tangential point and a side force at the upper stabilizer using the first and second non-linear equations; resolving the unknowns by iteration to determine the bottom hole assembly configuration; and displaying the bottom hole assembly configuration.