Erik Kostson
Ansys Employee
Yes, for linear analysis like modal, we only need those material parameters (rho, E, and v).
See this course for details:
As for contact we can only use linear type of contacts since modal is a linear analysis (so we can not have nonlinear contacts).
See the help manual for the different type of contacts and choose the most appropriate one - one can always start with a bonded contact (for all parts). This course is relevant also:

Finally I assume you can fix the base of the large grey block - ultimately try to have as similar boundary conditions as possible as in the real experimental modal test.

Also see this nice course for modal analysis:
And this course on how to get started with mechanical:

All the best