Building and installing a slideout in a Class A Motorhome

Obviously it is something that can be done. I remember one TV show called "Rock my RV", where Bret Michaels and his crew installed a slide out on a Class A. The biggest problem I can see is with weight and balance. You want to make sure that you do not add too much weight to the coach and that it does not end up leaning to one side.
Maybe you can come up with a design better than what is being done right now by the various manufacturers.