Arrogance.
I'm serious. If you feel that you're below somebody, you won't have much luck talking to them if you're not used to confronting them.
Maybe you need to just imagine, for a short while, that the people you're talking to are below you. You're better than them. If that doesn't work, try and realize that most social groups have leaders and followers. Try and be the leader. Recommend things before somebody else does. Come up with ideas. I'm sure you're bright enough to do something like that.
As far as nervous shaking, there's not really much I've ever been able to do about it, even if my entire mind is comfortable, my body will shake. It just takes getting comfortable in a situation.
So practice, practice, practice.
Also, don't dwell on mistakes. Get over them. As quick as you can. If you think you're stupid because you said something wrong, then you ARE stupid. Don't think that.
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You know, I've tried the arrogance thing. It usually ends up with people just going "What is wrong with you. Why are you acting like this? You're not not like how you used to be!" which makes me look like a giant asshole. :|
I wish I wasn't as shy as I am when I'm doing things solo. (I'm not really at all when I'm around a group of friends that I've known for a while) but eh.
Jam it back in, in the dark.