Errata: In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one

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Location: page 184, line -10

The step response for the case ζ < 1 has the incorrect sign for the sin(ωt) term. The equation for that case should read

math

(Contributed by F. Huang and S. Han, 22 Nov 08)

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