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Book excerpts

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The errata is available here.

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Presentation slides

Chapter 1. Cartesian Coordinate Systems
Chapter 2 Vectors
Chapter 3. Multiple Coordinate Spaces
Chapter 4. Intro to Matrices
Chapter 5. Matrices and Linear Tranforms
Chapter 6. More on Matrices
Chapter 7. Polar Coordinate Systems
Chapter 8. Rotation
Chapter 9. Geometric Primitives
Chapter 10. Graphics
Chapter 11. Mechanics 1
Chapter 12. Mechanics 2
Chapter 13. Curves in 3D

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