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\subsection{Notes}  Notes are distributed to the students prior to the lecture. We distributed paper copies, with the notes formatted using a modified form version  of the \verb|tufte-handout| style \citep[see, e.g.,][]{Tufte1983The-Visual-Disp}. We adopted this layout for several reasons: it has a large right margin in which the students can write notes;  it features tight integration of text and graphics, which reduces skipping back and forth; and  it implements margin notes, which we use for quick reminders of mathematical formulae and side remarks. A sample page, from the notes on coordinate systems, is shown in Fig.~\ref{f.sample-handout-page}. Sketches for the handout were made using the \href{https://evernote.com/penultimate/}{Penultimate} app on an iPad.