[mferraro89]

author here. I was mistaken about the 5 degrees of freedom bit. Bivectors have three. I'll fix the text tonight. I'm sorry you wasted ten minutes on my nonsense.

[rolandog]

Hey, I thought it was wonderfully written. I'm definitely part of your target audience, as I fail to easily grok some algebraic concepts.

Thanks for taking the time to write it, and for making the notation easy to write and understand.