Errata: In Example 8.3, a = 10 rad/s
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Location: page 237, line 5 and page 238, line 8
In Example 8.3, the value of the parameter 
should be 10, not 100. This appears in two places: in the caption of Figure 8.3 and near the end of the example, in the list of parameters.
(Contributed by H. Yin, 12 Jun 09)
