--- trunk/tengDissertation/Introduction.tex	2006/06/05 21:21:27	2791
+++ trunk/tengDissertation/Introduction.tex	2006/06/05 21:23:04	2792
@@ -1661,8 +1661,8 @@ _\alpha  t)\dot x(t - \tau )d\tau  \\
 \sum\limits_{\alpha  = 1}^N {\left\{ {\left( { - \frac{{g_\alpha ^2
 }}{{m_\alpha  \omega _\alpha ^2 }}} \right)\int_0^t {\cos (\omega
 _\alpha  t)\dot x(t - \tau )d\tau  \\
-& &\mbox{} - \left[ {g_\alpha  x_\alpha (0) - \frac{{g_\alpha
-}}{{m_\alpha \omega _\alpha  }}} \right]\cos (\omega _\alpha  t) -
+& & - \left[ {g_\alpha  x_\alpha (0) - \frac{{g_\alpha }}{{m_\alpha
+\omega _\alpha  }}} \right]\cos (\omega _\alpha  t) -
 \frac{{g_\alpha  \dot x_\alpha  (0)}}{{\omega
 _\alpha  }}\sin (\omega _\alpha  t)} } \right\}} \\
 %
@@ -1671,9 +1671,9 @@ t)\dot x(t - \tau )d} \tau }  + \sum\limits_{\alpha  =
 }}{{m_\alpha  \omega _\alpha ^2 }}} \right)\cos (\omega _\alpha
 t)\dot x(t - \tau )d} \tau }  + \sum\limits_{\alpha  = 1}^N {\left\{
 {\left[ {g_\alpha  x_\alpha  (0) \\
-& & \mbox{} - \frac{{g_\alpha  }}{{m_\alpha \omega _\alpha  }}}
-\right]\cos (\omega _\alpha  t) + \frac{{g_\alpha  \dot x_\alpha
-(0)}}{{\omega _\alpha  }}\sin (\omega _\alpha  t)} \right\}}
+& & - \frac{{g_\alpha  }}{{m_\alpha \omega _\alpha  }}} \right]\cos
+(\omega _\alpha  t) + \frac{{g_\alpha  \dot x_\alpha (0)}}{{\omega
+_\alpha  }}\sin (\omega _\alpha  t)} \right\}}
 \end{eqnarray*}
 Introducing a \emph{dynamic friction kernel}
 \begin{equation}
