A typo in equation (6.24).

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For \(\zeta<1\,\), the corresponding equation should be\[y(t)=k\Big(1-e^{-\zeta\omega_0t}\cos{\omega_dt}-\frac{\zeta}{\sqrt{1-\zeta^2}}e^{-\zeta\omega_0t}\sin{\omega_dt}\Big)\].

--Shuo