Errata: In Example 5.5 and 5.6, m1 and m2 should be m
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Location: page 144, line -4 and page 148, line -1
In Examples 5.5 and 5.6, the figures show a single value 
for both masses. The correct equations of motion are
(Contributed by J. Bechhoefer, 26 Jan 09)
