See sections 1.3-1.4 of this: a href="http://books.google.com/books?id=EVJFxlNtPtQC&printsec=frontcover&dq=givental+linear+algebra&hl=en&ei=hVzpTPm9HIuYnAfd7vGoDQ&sa=X&oi=book_result&ct=result&resnum=1&ved=0CCgQ6AEwAA#v=onepage&q&f=false" rel="nofollow"http://books.google.com/books?id=EVJFxlN…/a
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