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\subsubsection{Notes}  \label{sec:notes}  We %We  distribute paper copies of the notes prior to the lecture. The notes are formatted using a modified version of the \href{https://code.google.com/p/tufte-latex/}{``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. 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. Following the lecture, we then assign longer, more involved problems as homework. We distribute solutions, written in the same format as the lecture notes, when we return the marked assignments. The class discusses the solutions in lecture, with ample opportunity for students to ask questions.