Errata: In Example 4.8, the linearized dynamics should contain 3 r e, not 2 r e
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Location: page 110, line 11, 13
The partial derivative of 
with respect to 
and evaluated at 
should be 
. This error occurs in the displayed equation at line 11 and again in the text at line 13.
(Contributed by C. Cuba, 12 Oct 08)
