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\subsubsection{Notes}  \label{sec:notes}  Notes are distributed to We distribute paper copies of  the students notes  prior to the lecture. We distributed paper copies, with the The  notes are  formatted using a modified 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 Figure~\ref{fig:sample-handout-page} displays a  sample page, page  from the notes on coordinate systems, is shown in Fig.~\ref{fig:sample-handout-page}. 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.