• Page 30, line 16. (C. A. Vanelli, 10/4/96) The expression for ω in equation (2.18) is singular when θ is π. To fix this, use the diagonal terms to determine the axis of rotation. • Page 40, figure 2.5. (W. Wray, 1/12/95) The expression p(t should be p(t) in the figure (occurs twice). • Page 75, line -2. (W. Wray, 1/12/95) SO(3) should be SO(2). • Page 114, line -6. (R. Mason, 4/16/95) The phr...