THE ESSENCE OF SECURITY by Robert S. McNamara. 176 pages. Harper & Row. $4.95.

Everyone admires efficiency, but no one can readily tolerate an efficient man. He is, after all, a rebuke to others. As a result, most efficient men diplomatically try to appear less efficient than they are. Not Robert McNamara. The ablest of the nation's Secretaries of Defense refused to play "Lovable Bob" for Congressmen, some of whom did not forgive him. Now he is running something of the same risk with his reading public. The Essence of Security is not the gossipy memoir or the in-fighter's recollection that...

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