Errata: In Example 5.4, there is a sign error in one of the terms
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Location: page 141, line -4, -8
In equation (5.12) and again in the displayed equation below it, the term should not have a leading negative sign. The proper expression in equation (5.12) is
and the equilibrium conditions should read
These errors to not affect any subsequent calculations.
(Contributed by F. Juillet, 7 Apr 2010)