Equation (7) in the paper should have been 
VθD=1D(Qθ+Mrθr)=rθ(1r22uθ2+1rur+2ur2)+(1νp)r(2urθr1r2uθ)=0VrD=1D(Qr+1rMrθθ)=r(1r22uθ2+1rur+2ur2)+1νpr∂...
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