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The 1978 paper proposes a reasonable set of primitives and then walks through prose examples with them. The book proposes roughly the same primitives (channels are the big change, but stop is barely in the paper) and describes them in a formal notation for state machines. It's the difference between a sketch of a plausible idea and writing down the mathematics.
Related though much later, ocaml https://github.com/ocaml-multicore/reagents observed that the send/recv primitives make less sense than a swap primitive. Between occam and the current ocaml effort, concurrent ML is the same sort of model with the details really well thought through (e.g. a thread executing stop gets garbage collected).