"Version: 20180401"--Title page verso.Includes bibliographical references.1. Introduction -- 2. Notation and tensor analysis essentials -- 2.1. Linear fractional transform -- 2.2. Visualizing rotations3. Orthogonal basis and coordinate transformations -- 3.1. Superimposed rotations -- 3.2. Basis rotations4. Rotation operations -- 4.1. Why apparent inconsistency in placement of the negative sign…