With GNU awk foror any other awk that supports multi-char RS (e.g. newer versions of mawk):
$ awk -v RS='[[:space:]]+' '$0!=""' file Cat Dog Soup Rat Cass Audrey
$ awk -v RS='[[:space:]]+' '$0!=""' file2 Once upon a midnight dreary while I pondered weak and weary Over many a quaint and curious volume of forgotten lore