Major rewrite of matrix exponential section.

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I was conflating thematrix exponential with Taylor series, making
the whole thing quite confusing.

There was also significant duplication of content, such as presenting
the calculus form of Newton's equations multiple times in slightly
different ways. I've made it all hang together now.

...

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Roger Labbe committed 2016-01-01 15:18:35 -08:00

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