Yes---turn it off, then back on while CONSOLEd into the router. When it is turned back on, initiate a break (ctrl-break, or whatever it is for your term emulator). When it gets to rommon, just do this
rommon1>confreg 0x2142
rommon2>reset
When it resets, answer "no" to "do you want to configure blablabla?" or whatever the exact wording is...then it will say "Press RETURN to get started!"---when you get to router>, just do this...
router>en
router#erase start
"Are you sure"...whatever it says---answer "y"
router#conf t
router(config)#config-reg 0x2102
router(config)#end
router#wr
You should not have to do "erase start", since after you change the config register back to 2102, and after that you do a "wr" with no other config changes, you are over writing NVRAM, esentially resetting it to factory defaults, except without a password (Cisco routers new come with an IP address of like 10.10.10.1 and a default password). HOWEVER, I always do "erase start" for kicks, good measure. I am a backup plan type man.
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tim@tim-laptop ~ $ sudo apt-get install windows
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Couldn't find package windows...Thank Goodness!