Version 
Location 
Description 
Submitted By 
Date Submitted 
Date Corrected 
Printed 
Page 7
2nd display equations 
all the occurances of m in the second display equations on this page should be m_i

Anonymous 


Printed 
Page 19
3rd equation from the bottom 
The integrated expression (vector product):
(r x w x r)
NOW READS:
(r x (w x r))

Anonymous 

Jan 01, 2004 
Printed 
Page 19
last paragraph 
"... and (w x r) is angular momentum of each elemental mass..."
NOW READS:
"... and (r x (w x r))dm is angular momentum of each elemental mass..."

Anonymous 

Jan 01, 2004 
Printed 
Page 50
figure 2.8 
Body axes x and y must be normal.
in Figure 28 they kind of look not perpendicular.
It's just an illustration issue...

Anonymous 


Printed 
Page 52
figure 2.10 
vector v must be normal to radius r

Anonymous 


Printed 
Page 53
figure 2.11 
vectors an and at must be normal (perpendicular).

Anonymous 


Printed 
Page 55
figure 2.12 
vestor vt must be normal to radius r

Anonymous 


Printed 
Page 56
figure 2.13 
vectors at & an must be normal

Anonymous 


Printed 
Page 70
the last equation 
The equation:
sum(F) = sqrt{sum[(Fx)^2] + sum[(Fy)^2]}
NOW READS:
sum(F) = sqrt{(sum Fx)^2 + (sum Fy)^2}

Anonymous 

Jan 01, 2004 
Printed 
Page 72
4th equation 
3 parentheses were opened but only 2 closed.
An additional closing parenthesis HAS BEEN ADDED just after the Cv variable.

Anonymous 

Jan 01, 2004 
Printed 
Page 72
7th equation from the bottom;missing open and close brackets 
The equation IS NOW in the form:
[expression substituted for v2]dt = ds

Anonymous 

Jan 01, 2004 
Printed 
Page 75
the last equation on this page was incorrect 
It NOW READS:
Sum F = SQRT[ (sum Fx)^2 + (sum Fy)^2 + (sum Fz)^2 ]

Anonymous 

Jan 01, 2004 
Printed 
Page 76
last three equations at bottom 
NOW READS:
All minus signs in these equations HAVE BEEN CHANGED to plus signs.

Anonymous 

Jan 01, 2004 
Printed 
Page 77
2nd equation fron the bottom and the last equation of this page 
2nd eq. from the bottom:
on the right side of the equation in the expression exp[(Cd/m)t]
The "d" portion of the exponent NOW APPEARS as a subscript.
The last eq. on this page:
 in exp[(Cd/m)t] the "d" portion of the exponent NOW APPEARS as a subscript.
 cw portion of the equation (two instances) NOW APPEARS as Cw (C is now uppercase).

Anonymous 

Jan 01, 2004 
Printed 
Page 77
4th equation from the bottom 
In this equation:
Cd, Cw, vw, vx1, vx2
symbols:
d, w, x1 and x2 NOW APPEAR as indexes (smaller letters lower than the main line of text).
In x1 and x2 numbers 1 and 2 NOW APPEAR as subindexes.

Anonymous 

Jan 01, 2004 
Printed 
Page 77
5th equation from the bottom 
The left side of the equation:
(Cd/m)t=....
The "d" portion of the exponent NOW APPEARS as a subscript.

Anonymous 

Jan 01, 2004 
Printed 
Page 78
2nd and 3rd eq. and some other eq. on this page 
In all occurrences of the exp[(Cd/m)t] on this page, The "d" portion of the exponent
NOW APPEARS as a subscript.

Anonymous 

Jan 01, 2004 
Printed 
Page 79
3rd line from the bottom 
A minus "" HAS BEEN ADDED at the end of this line.

Anonymous 

Jan 01, 2004 
Printed 
Page 80
3rd line from the top 
A minus "" HAS BEEN ADDED at the end of this line.

Anonymous 

Jan 01, 2004 
Printed 
Page 83
4th equation 
The equation was incorrect.
It NOW READS:
Sum F = SQRT[ (sum Fx)^2 + (sum Fy)^2 ]

Anonymous 

Jan 01, 2004 
Printed 
Page 85
Figure 47. 
The vector N=mg cos(theta) must be perpendicular to the vector Ft and tu the inclined plate.
illustration issue...they should be drawn perpendicular

Anonymous 


Printed 
Page 86
5th equation 

Anonymous 

Jan 01, 2004 
Printed 
Page 92
2nd equation from the top 
i and j are both vectors and NOW APPEAR in the vector style (bold letters, no italics).

Anonymous 

Jan 01, 2004 
Printed 
Page 92
2nd equation from the top 
The value (0.864) NOW READS (0.866)

Anonymous 

Jan 01, 2004 
Printed 
Page 93
1st, 2nd and 3rd equation 
v1+ and v2+ are vectors, and NOW APPEAR in vector style (bold letters, no italics).

Anonymous 

Jan 01, 2004 
Printed 
Page 94
1st and 2nd equation from the bottom 
I don't understand why the units ft/s are omitted in these equations. They were used
earlier in all other equations of this kind.
AUTHOR: Not an error, but for consistency they could be included...

Anonymous 


Printed 
Page 94
formula for coefficient of restitution e and the equation i next line 
Two brackets are opened but only one is closed in the formula for coefficient of
restitution e.
The equations for coefficient of restitution should have closing
parenthesis/brackets in the numerator.

Anonymous 


Printed 
Page 94
6th and 7th equation 
v1 and v2 are vectors, and NOW APPEAR in vector style (bold letters, no italics).

Anonymous 

Jan 01, 2004 
Printed 
Page 96
two last equations on the page 
The mistake here is that the velocity terms should be shown as vectors (in bold).
The same applies to just about all of the equations shown on page 96.

Anonymous 


Printed 
Page 98
1st equation 
the vectors in these equations should be shown in bold to denote them as
vectors instead of scalars...

Anonymous 


Printed 
Page 99
1st equation 
tan(PHI) = F_f/F_n = (mu)
The same angle is represented in different way:
 in this equation (PHI)  upper case
 on the figure 5.6 (phi)  lower case
Font inconsistency

Anonymous 


Printed 
Page 105
3rd paragraph from the end 
The text says that "the only formula that has changed is the formula for T", but in
fact the formula for h has changed too.
It should say:
the only formulas that have changed are the formula for T and the formula for h"

Anonymous 


Printed 
Page 108
figure 6.6 
The axe of velocity profile should be normal to the surface of the sphere, which
means that velocity vectors should be paralel to this surface.

Anonymous 


Printed 
Page 109
First paragraph, just below Figure 67 
The "separation point" is described as being at "approximately 80 degrees from the
leading edge." I would have thought 90 degrees more likely, but weird things do
happen in physics. If 80 degrees is correct, I feel that this should be emphasized,
preferably with a few words of explanation.
EDITOR: The 80 degrees is correct, and I would think more intuitive than 90. One
might wonder why the angle isn't closer to 45. But it's really a
peripheral point; the main idea is that the friction of a rough surface can
bring the angle around to a counteintuitive 115 degrees.

Anonymous 


Printed 
Page 111
Last sentence of 3rd paragraph 
"In the SI system you'll get R_t in newtons (N) if you have velocity in m/s, area in
m, and..."
"area in m," NOW READS "area in m2,"

Anonymous 

Jan 01, 2004 
Printed 
Page 115
A line related to the last display equation on the page, 
in the sample code (cannon.c) has an error. It reads:
double C = PI * RHO * RHO * radius * radius * radius * omega;
that is, there is an extra factor of RHO (but would otherwise be correct).

Anonymous 


Printed 
Page 115
last display equation on the page 
F_L = 2pi^2
ho r^4 v omega
NOW READS:
F_L = 2pi
ho r^4 v omega

Anonymous 

Jan 01, 2004 
Printed 
Page 126
Figure 76 
"delected" should be "deflected" for all three sections of this diagram.
Actually, "lowered" would be better.

Anonymous 


Printed 
Page 196
3rd line of 1st paragraph under the code 
"Similarly, STBCThruster...."
NOW READS:
"Similarly, STBDThruster...."

Anonymous 

Jan 01, 2004 
Printed 
Page 208
ApplyImpulse function 
remove "(vCollisionNormal * vCollisionNormal)" from this function.
It is not present in the example source code on the website.
(and should evaluate to 1 anyway)

Anonymous 


Printed 
Page 309
last paragraph on the page 
The second line of the last paragraph reads:
"zaxis, then the yaxis, and then the zaxis, you can..."
That last zaxis should be "xaxis".

Chapters 13 and 16
Type of error: Serious Technical Mistake
Detailed Description of error:
I need to clarify and correct the collision response algorithms illustrated
in the sample code discussed in Chapters 13 and 16. Specifically, it should
be noted that the equations for impulse in both 2D and 3D are written in
terms of global, earthfixed coordinates. Therefore, all of the variables in
those equations should be in terms of global coordinates. For example,
velocity, angular velocity and mass moment of inertia should all be in terms
of global coordinates. For the 2D case this difference can easily go
unnoticed since there's only one axis of rotation and the angular velocity
and mass moment of inertia are the same in both local and global
coordinates  the zaxis is straight up in both cases. However, in the 3D
case, the objects may rotate about any arbitrary axis and it's important to
convert such parameters as angular velocity, and mass moment of inertia from
local body fixed coordinates to global coordinates. I failed to make the
conversion in the example presented in Chapter 16. While, I had in place a
parameter in the rigid body structure for the mass moment of inertia in
global coordinates, I inadvertently left out the conversion and that
parameter went unused. Converting the inertia tensor from local to global
coordinates involves transforming the inertia tensor using a rotation matrix
derived from the orientation quaternion. The hovercraft example (with
collision response) and the crash test example have been revised and
corrected accordingly and will be posted on O'Reilly's website.
Thanks,
David Bourg

Anonymous 

