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it implements margin notes, which we use for quick reminders of mathematical formulae and side remarks. Figure~\ref{fig:sample-handout-page} displays a sample page from the notes on coordinate systems. Sketches for the handout were made on an iPad using the \href{https://evernote.com/penultimate/}{Penultimate} app.     As can be seen in Fig.~\ref{fig:sample-handout-page}, exercises are incorporated into the body of the notes. Typically we assign a few exercises prior to the start of lecture as guides to reading the notes. We then assign longer, more involved problems as homework following the lecture. Solutions, which are written in the same format as the lecture notes, are distributed when the marked assignments are returned. The class discusses the solutions in lecture, with ample opportunity for students to ask questions.  By the midpoint of the Spring 2015 semester, about 40 pages of notes in this format had been written and distributed. These notes include 30 exercises developed for this course.