Page 127: Last equation in 4.3.1. Swap u and v: v=M^Tu

Page 195: Last paragraph. Change 5.3 to 5.8, cahnage 5.7 to 5.3

Page 229 Figure 6.22 Draw psi as the angle between n and h and replace
phi with the angle between r and v.

Page 229 sectipn 6.4.3, second line below first equation, change v to n:
between n and h.

Page 359. First two equations. The 3 belongs on the other side:

3p_1-3p_0=c_1
3p_3-3p_2=c_1+2c_2+3c_3 (remove parentheses too)

Page 375, second equation, the order of matrices is reversed:
change subscript I to B and subscript B to I

Also add minus sign to element in third row second column of
matrx (-3/2).

third equation, also have to reverse order of matrices,
change subscript S to B, subscript B to S.

Page 382; first line of code in 9.12.2. Change last 3 to 12:

...1.0, 12 , 4, data)

Page 393: middle of page, line below equation, add word not:

does not take into account

Page 485:  Line of text between first two equations, swap order of terms:
multiplication and addition

Vector-vector addition and scalar-vector multiplication

Page 489: line above last equation in B.5, swap v and w:

projection of w onto v

Page 504, entry Eng68: change to Engelbart (reverse e and l)

Page 506: entry Ost94: change to Ous94: Ousterhout

Page 507: entry Rei81: change to Rie81 Riesenfeld

Page 167: Section 4.11 change [Rei81] to [Rie81]

Page 113: end of section 3.11: change {Ost94] to [Ous94]

Page 350: middle of page, third line below matrix, change three to four:

four-element column matrix