Maths — Vectors
Dot product, cross product and magnitude.
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\vec{a} \cdot \vec{b} = |\vec{a}|\,|\vec{b}|\cos\theta
\vec{a} \times \vec{b} = |\vec{a}|\,|\vec{b}|\sin\theta \, \hat{n}
|\vec{a}| = \sqrt{a_x^2 + a_y^2 + a_z^2}
\vec{a} \cdot \vec{b} = a_x b_x + a_y b_y + a_z b_z