Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 4 additional material
Chapter 5
Chapter 6
Chapter 7 vibrations
Chapter 7 2D rotations
Chapter 7 3D rotations
Chapter 8 first part
Chapter 8, 2nd part
Chapter 9
Chapter 10
Chapter 11
Chapter 12
Chapter 13
Chapter 14
Chapter 15
Chapter 17`