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Notes are distributed to the students prior to the lecture. We distributed paper copies, with the notes formatted using a modified form 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. For an example, see A sample page, from the notes on coordinate systems, is shown in  Fig.~\ref{f.sample-handout-page}. Sketches for the handout, as shown in Fig.~\ref{f.sample-handout-page}, are handout were  made using the \href{https://evernote.com/penultimate/}{Penultimate} app on an iPad. Exercises As can be seen on the sample page, exercises  are incorporated into the body of the notes (Fig.~\ref{f.sample-handout-page}). notes.  Typically a few exercises are assigned prior to the start of lecture as guides to reading the notes. Longer, more involved problems are then assigned 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 solutions are discussed in lecture, with ample opportunity for students to ask questions.