J. Billingsley. Seite 13--21. Springer International Publishing, Cham, (2018)
We enter the world of three dimensions gently, considering particles which just have mass, without the moments of inertia of a solid body. We see that vector functions of position can be differentiated to give vector velocities and accelerations. We define frames of reference and see how the motion of a particle in a rotating frame can be represented in `world axes'. Generalised coordinates are mentioned, though a more mathematical treatment is to be found in the second appendix.