Errata: In Examples 5.5 and 5.6, dynamics in modal form should use z, not x

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Location: page 145, line 5 and page 149, line 8

On the right hand side of the equations defining math, showing the dynamics of the coupled spring-mass system in modal coordinates, the state should be instead of .

(Contributed by C. Caramanis, 18 Feb 08)