deletions | additions       diff --git a/Introduction.tex b/Introduction.tex  index 32a892b..a04f816 100644  --- a/Introduction.tex  +++ b/Introduction.tex 
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i & -1 & k & -j \\  j & -k & -1 & i \\  k & j & -i & -1  \end{bmatrix}  \begin{bmatrix} dt \\ dx \\ dy \\ dz \end{bmatrix}  \end{equation} 
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i & -1 & 0 & 0 \\  j & 0 & -1 & 0 \\  k & 0 & 0 & -1  \end{bmatrix}  \begin{bmatrix} dt \\ dx \\ dy \\ dz \end{bmatrix}  \end{equation}