# Errata: Subscripts are unreadable in equation (4.30) in the online version of the first edition

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Location: page 176, line -5

The text for the online version of the first edition has some errors in the fonts in equation (4.30). The correct equation is

\frac{\partial M_{ij

(Contributed by D. de Giulii, 16 Aug 09)

{\partial \theta_k} =

\sum_{l=\max(i,j)}^n \Bigl( [A_{ki} \xi_i, \xi_k]^T A_{lk}^T {\cal M}_l' A_{lj} \xi_j + \xi_i^T A_{li}^T {\cal M}_l' A_{lk} [A_{kj} \xi_j, \xi_k] \Bigr).</amsmath>

}}