Lincoln Chaffee, in a very clear and concise Op Ed in the New York Times today explains it.
In summary, it was an amendment proposed by Sen. Levin just 11 hours before the actual vote to authorize the war took place and in nearly a mirror-image vote, those who opposed the Levin amendment (called the Multilateral Use of Force Authorization Act of 2002) voted for the authorization which led to the Iraq war, including all of the Senatorial candidates that are running for presidency today.
Levin's amendment, as Chaffee writes, "called for United Nations approval before force could be authorized. It was unambiguous and compatible with international law. Acutely cognizant of the dangers of the time, and the reality that diplomatic options could at some point be exhausted..."
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