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Hi rani.a,
Harmonic response is a linear analysis, so it cannot restrict the blue body that has clearance inside the red body from passing through the red body. The best you can do is set up some measurements of the clearance and plot the results to determine if any of the clearance measurements goes negative for any of the frequencies in the results.
Transient Structural (not using Modal Superposition) can have frictional contact between the red and blue bodies and can model the nonlinear contact that prevents the bodies from passing through each other during the time history of the vibration. You need to provide the loads as a time history which makes it more difficult to sweep through all the frequencies of interest.