In chapter 6, David decides that it's time to send for the ark and bring it to Jerusalem. This prompts a question of timing of this event, about which I have already given an opinion.
Now, the manner in which this happens is important. As the Philistines did when they had the ark and wanted to get rid of it, the Israelites get a new cart, load it up, and bring it along. This is a problem. When the ark is to be moved, the proper method of transport is supposed to be having it carried on foot by Levites. The Philistines, between the fact of their being (relatively) ignorant pagans and perhaps the more important fact of them not having Levites were able to get away with loading the thing on a cart. For the Israelites, handling the ark of God in such a cavalier manner led to God's wrath striking down Uzzah.
Where exactly was it that Uzzah was struck down? I don't see this as a problem the way the SAB does. While we are given two names for the location of this event, the fact that this account and the one in 1Chronicles 13 were written far apart in time may mean that the place was known differently at the later date. Childon was probably a descendant of Nachon, and both of them at various times owned a threshing floor at the place called Perezuzzah.
So eventually, they seem to get it figured out, and they transport the ark on foot, making sacrifices to God along the way. David comes along with the procession, dancing as it goes. Now, I'll admit that what's going on here is not completely clear, but I don't agree with the SAB's reading, neither that there might have been something wrong with David dancing, nor that David was somehow nude. Note that it does not say that David was naked, but rather that he was clothed in an ephod, which was a priestly garment. I think Michal was simply, for some reason, feeling that David was making a fool of himself by the way he was acting, which she felt was improper for a king. David's reply is that he doesn't care what people think, he just loves God.
Now the final note of this chapter says that Michal "had no child unto the day of her death." The SAB makes a surprising evaluation of this fact, calling it a contradiction (which I don't think it is, more in a moment) but not marking it with "Injustice" or "Women", which I probably would have. The Bible seems to be suggesting that Michal was made infertile as a punishment for arguing with her husband, which seems a bit extreme to me, but maybe there's something to this story I'm missing. (It might be that David simply never had sex with her again.) As for the contradiction, I assume that the children that Michal is reported to have had were all born before this incident.