• introduction
  
• coordinates
  
• homogeneous coordinates
  
• trigonometric functions sin and cos
  
• column and row matrices
  
• square matrix
  
• matrix multiplication row X square
  
• matrix multiplication square X column (post multiply)
  
• matrix multiplication 4 X 4
  
• identity matrix
  
• translation
  
• rotation 3 degrees of freedom
  
• transpose matrix
  
• vectors
  
• normal counter clockwise (CCW) convention
  
• dot product
  
• cross product
  
• kinematics