Errata: In Example 7.6, the coefficient in front of thetadot should be v/b
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Location: page 221, line -12, -6
In Example 7.6, the equations for the vehicle dynamics have errors in the 
terms. In the first displayed equation, the third expression should read
Then in equation (7.24), the final equation should read
(Contributed by R. M. Murray, 4 Jan 2010)
