Derive Equations 3.44 and 3.45: [ begin{aligned} |G(i omega)| & =frac{1}{k sqrt{left(1-left(omega / omega_{n} ight)^{2} ight)^{2}+left(2 zeta

Derive Equations 3.44 and 3.45:

\[ \begin{aligned} |G(i \omega)| & =\frac{1}{k \sqrt{\left(1-\left(\omega / \omega_{n}\right)^{2}\right)^{2}+\left(2 \zeta \omega / \omega_{n}\right)^{2}}} \\ \phi & =\tan ^{-1}\left[\frac{2 \zeta \omega / \omega_{n}}{1-\omega^{2} / \omega_{n}^{2}}\right] \end{aligned} \]