Errata: Formula for Ged should not have the ' on dc and is missing a minus sign

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Location: page 248, line 2

The formula for Gdr should have dc in place of dc' in the numerator. In addition, there is a minus sign missing. The correct formula is

math

(Contributed by G. Ristroph, 15 Feb 2010)

Retrieved from "http://www.cds.caltech.edu/~murray/amwiki/index.php/Errata:_Formula_for_Ged_should_not_have_the_%27_on_dc_and_is_missing_a_minus_sign"
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