Errata: In equation (6.5), the 4, 3 entry of W r should be g m^2 l^2 M t/mu
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Location: page 171, line 8
In equation (6.5), the entry in the fourth row and third column of Wr has an extra factor of g in the numerator. The correct expression is

(Contributed by H. Huynh, 19 Nov 09)
