How to find the output response of a second order system?

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Consider a second order system with the following transfer function:

$$ G(s)=\frac{\omega_{n}^{2}}{s^{2}+2 \zeta \omega_{n} s+\omega_{n}^{2}} $$

If the input is:

$$ \cos (\omega t) $$

how can I find the output response of the system?