Errata: Example 5.5 includes a damping term not shown in Figure 5.4
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Location: page 144, line -7
The equations of motion for the coupled spring-mass system in Example 5.5 contain a damping term 
, but Figure 5.4 does not contain a damper. This may cause some confusion in determining where the equation of motion come from. Figure 5.7 contains the dampers.
(Contributed by C. Caramanis, 18 Feb 08)
