- On the top of page 261 in the old version or page 259 in the new
version, the book says:

etheta x er = k

It should read

er x etheta = k

This is consistent with the conventions we normally use in 203, i.e. right hand coordinate system and theta is the angle from the x axis towards the y axis.

If you use different conventions you need to use the right hand rule to determine the direction of er x etheta

When performing cross products in determinant form, you need to be sure that the 3 unit vectors which comprise the first row of the matrix are written in order so that (the first) x (the second) = (the third) - Page 6, both editions, the equation "sigma H=r * ma" should read "sigma H=r * mv"
- Problem 3.8 has a typo and an equation formatting ambiguity. The
Drag force should be:
Drag force = c v^2 = .006 ( lbf / (ft/s)^2 ) v^2 ^^^^^^^^^^^^^^^^^^^^^^^ this set of terms is c

- Equation 6.39 should read:

T = m [length*(theta dot)^2 + g*cos(theta)]