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The difference between these is that in the first, the adjective clause is a restrictive one, meaning it is necessary to identify which book we are talking about. There are several books, and we only mean the one that Peter wrote. If we omitted the clause, someone would want to know, "Which book?"
In the second, the adjective clause is nonrestrictive, meaning it just provides extra information. The book has already been identified, or maybe there is only one book under discussion, so we don't need the information in the clause to understand the thought. Commas always set off a nonrestrictive adjective (or relative) clause.
The antecedent in both clauses is "book."