vector cross product

[Peter230655]

In equations (39), (40) you use the vectors u, v, w.
In the left picture of fig(16), you use the vectors x, w, u.

Maybe slightly better to use the same notation?

If I see it correctly, to make the left picture of fig (16) consistent with equation (39), you should replace:

w -> v
x -> w

Would it make sense to add these rules here:
If nx, ny, nz are the unit vectors of a right handed coordinate system, then:
nx x ny = nz
nz x nx = ny
ny x nz = nx

Small things, even if I am correct.