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 
, 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)
