RewriteEngine On
DirectorySlash Off
DirectorySlash Off (mod_dir) is all that you require here. RewriteEngine (mod_rewrite) is unrelated.
However, the 301 (permanent) redirect that resulted before you implemented the DirectorySlash directive is most certainly cached by the browser and possibly intermediary caches. 301s are cached persistently by the browser. These caches will need to be cleared before this directive will have an effect.
Note that if you disable the directory slash then you must also ensure that auto-generated directory listings (mod_autoindex) are also disabled since a DirectoryIndex document in a directory will no longer prevent the directory listing being generated when a slash is omitted from the URL-path.
# Disable directory listings (mod_autoindex)
Options -Indexes
However, instead of disabling the directory slash on the server it would be preferable to avoid this conflict to begin with, to avoid URL-paths also mapping to physical filesystem directories.