Dedication

To my many, many students
You have been the inspiration for this textbook. You have asked questions and wanted more clarity. I hope this book provides that. My goal was to write with accessible language, and to include many diagrams to model the teaching in the classroom - visualization. If I ever forget your name, please forgive me and remind me. I will have something in my memory of each of you because you have shaped me as an instructor.

To my children Juanita, Andrew, and Kassia
I love you so much. To the moon and back and more. Thank you for your patience with me as none of you came with a user’s manual.

To my best friend and husband Chris
You know most how much time and effort my work takes. It is a great journey to be with you for life. 30 years and counting up…