Lecture 6:

This lecture was trickier... I could definitely do with seeing the linearization from page 6.5 more explicitly. Or maybe I just need to go back and reread the previous lecture notes for similar things and then I'll get it. I'm not sure what else specifically to ask about - the material all seemed to make sense, but it feels like there's just a lot of it, a bunch of slightly different things to derive. I didn't really spend that much time on it either, I had a clinic presentation this week and the homework due tomorrow has been pretty hard. Ah well, I'll take another look at all the stuff and try to digest it all.