where x is a vector of displacements of structural coordinates, M is a positive definite mass matrix, C is a non-negative definite damping matrix, and K is a non-negative definite stiffness matrix. The nonlinear restoring forces are given in R(x, ẋ) and f ext(t) is a vector of external dynamic loads. At any point in time, t = ti+1 = (i+ 1)h, we may solve for the accelerations in terms of the di...