Last look

I'm made some changes to clean things up. Most are minor. But check if you think bars for vectors is better than underlines. I prefer them and they seem more conventional, but may not work well with Kane's left/right superscript notation well.

I've left some TODO notes in the paper for things I didn't fix.

Outstanding issues:

1. The notation for vectors and matrices is not consistent.
2. The last paragraph in the Kane's method class needs help. See TODO.
3. The Lagrange section can be expanded some more to give so better info and not be so brief.