This document describes a proposed approach called UDRPG for dynamic key management and node authentication in mobile ad hoc networks (MANETs). UDRPG uses four random processes to generate unique and dynamic random passwords for each node in the network. It allows each node to submit a unique random key during communication. The approach distributes the task of a trusted dynamic key generator among all participating nodes, addressing issues with prior centralized approaches. It generates public/private key pairs for nodes and encrypts messages using the public keys during communication between nodes. The simulation results show UDRPG can provide better security than existing approaches for MANETs.