Errata: In the online version of the text, there is a formatting error in equation (3.23)

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Location: page 84, line 11

In the online version of the text, there is an error in the formatting for equation (3.23). The correct equation is

math

This error does not occur in the printed version of the text.

(Contributed by M. Jacovich, 28 Oct 2010)

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