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Lately, the Google Sitemaps have added a feature to remove the canonical issues (www vs non-www). I haven't seen it, but it was featured in the Matt Cutts video.
However, the best way to handle this would be to create a .htaccess file - this will work for all the search engines, not just Google.
I couldn't post the .htaccess file code here cause it kept seeing URLs in it, so simply search for '.htaccess www 301 redirect' and you'll be fine.
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