Abstract
The system may be formed by joining components through the connecting elements at the boundaries of the components. The transient responses of the system are calculated based on the geometric compatibility and force equilibrium equations. For the rigid and linear connecting elements at the joints, no iteration is required, and direct marching procedures are used to calculate the responses. For nonlinear connecting elements, the interconnecting force vectors at the joints are determined using iterative procedures, and the responses are computed subsequently
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