Errata: Formula for k r in equation (6.21) of Theorem 6.3 is incorrect

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Location: page 180, line -2

The equation for k_r in the theorem is incorrect. The formula should be k_r = p_n / b_n where b_n is defined in equation (6.17). Alternatively, k_r can be written as

(Contributed by R. M. Murray, 15 Nov 08)