Three typos in the printed proceedings have been corrected in the online
version as of 11/5/96.
The first two errors are both on page 144. At the bottom of the
left column, in the paragraph beginning ``Remember that...'',
the proceedings version says
-1
"where A lambda = J M k " [wrong]
i
This should be
-1
"where A lambda = - J M k "
i
The second error is in step 5. The printed version says
ext
"A lambda = - J W (K u + F + cvec) " [wrong]
This should really be
ext
"A lambda = - (J W (K u + F ) + cvec) "
Thanks to Larry Edwards, of Stanford's Mech E department, for pointing
these out.
A third typo is on page 141, left column, middle of the page.
The summation equation for A should have the inverse of M in the equation.
ij k
Again, this is now correct in the online version.