[swframe2]

Check out this video https://www.youtube.com/watch?v=HoKDTa5jHvg of the math. A lot of other sources skip over the math to give you the big picture. After that you will find the video very helpful in understanding the math.

[uoaei]

Holy shit, this is one of the most well-produced, succinct, educational YouTube videos I've ever seen. Instantly subscribed.