Notation 

Arbitrary vectors are written in bold undercase letters (e.g. $\boldsymbol{a}, \boldsymbol{v}$). Unless stated otherwise, magnitudes of vectors are written as normal undercase letters (e.g. $a, v$). Physical quantities, like force ($\boldsymbol{F}$) are used by standard conventions. Matricies are written in bold uppercase letters (e.g. $\boldsymbol{R}$). Points are written in normal uppercase letters (e.g. $P$). When working with tensors, they are denoted by normal font with indices (e.g. $R^{\rho}{}_{\mu\sigma\nu}, g_{\mu\nu}$)

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