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...A vector algebra and calculus prof david murray eng ox ac uk www robots dwm courses va lectures mt revision of scalar product triple products multiple applications to geometry dierentiation functions mechanics elds line surface volume integrals curvilinear co ordinates operators grad div curl identities ordinate systems gauss stokes theorems extensions engineering more using vectors in which we discuss quadruple lines planes solving equations angular velocity moments mixtures it is possible derive between three n nothing new about these butsome have nice geometric interpretations wewill look at the...