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I think that "nonlinearity" is an incorrect term for what you
are describing. What we have is a driven system of amplitude y, described
by the equation:
y'' + (p^2)y = f(t).
You are discussing the forcing function f(t), as I understand it.
The system is quite linear in y. This is different from frequency doubling
in nonlinear optics, which occurs because the system is non-linear in the
amplitude y.
If f(t) is not a "pure" frequency function like cos(wt), then it
will have many frequency components.
The case of pushing the swing, for
example, can be modeled by a square wave function with a single period
for the square wave.
The Fourier decomposition of the square wave will
then have a spectrum of pure frequencies, as in your example.
But as long
as f(t) is not some function of y (or proportional to y) the system is, by
definition, "linear".