errors, readline: migrate to use internal/errors.js

PR-URL: https://github.com/nodejs/node/pull/11390
Ref: https://github.com/nodejs/node/issues/11273


Reviewed-By: Michael Dawson <michael_dawson@ca.ibm.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>