Hi Kevin,

  Not an R-specific solution, but by far the easiest way to extract data
from the 2000 census is to use American FactFinder.

Go to the main page:
http://factfinder.census.gov/home/saff/main.html?_lang=en
Hover over Data Sets, click Decennial Census.
Select the file you want (SF-2 for you), then click Detailed Tables.
Click on the Geo Within Geo tab.  This will let you select all the units
within another unit, which seems like what you want, plus the variables
desired.

Ciao,
Ari

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