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\subsubsection{Notes}  \label{sec:notes}  We distribute paper copies of the notes prior to the lecture. The notes are formatted using a modified version of the ``tufte-handout'' \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.