The concept of inverse feedback shapers is fully developed in this report for the case of multibody systems with strongly coupled dynamics. The presented results constitute a non-trivial extension of the previous papers by the authors on input shaping focusing on effectively decoupled controlled and flexible parts. As the main technical result, the target mode for the inverse shaper design is identified based on an input-output transformation of the multibody system into the controlled subsystem, the attached residual oscillatory dynamics, and an internal feedback loop representing the dynamical coupling. A state feedback controller, applied for the selected generalized coordinate, is considered throughout this paper.