=+Problem 7.4 The mid-point rule introduced at page 549 is often adopted as integration method for nonlinear

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=+Problem 7.4 The mid-point rule introduced at page 549 is often adopted as integration method for nonlinear systems. Let us consider the particular case of a system with nonlinear, displacement-dependent restoring forces:

Mq̈ + f(q) = p(t)

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