Equation 11.14 can be expressed in coordinatefree form by writing P0 cos = P0 r.
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Equation 11.14 can be expressed in "coordinatefree" form by writing P0 cos θ = P0 ∙ r. Do so, and likewise for Eqs. 11.17, 11.18. 11.19, and 11.21.
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