An aircraft rotor assembly has a central yoke and a plurality of rotor blades coupled to the yoke for rotation with the yoke about an axis, each blade having a Lock number of approximately 5 or greater. A lead-lag pivot for each blade is a radial distance from the axis and allows for in-plane lead-lag motion of the associated blade relative to the yoke, each pivot allowing for in-plane motion from a neutral position of at least 1 degree in each of the lead and lag directions. Lead and lag motion of each blade is opposed by a biasing force that biases the associated blade toward the neutral position, and the biasing force is selected to achieve a first in-plane frequency of greater than 1/rev for each blade.