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Concepts
Some books I can recommend on the subject:  
 
Principles of Three-Dimensional Computer Animation - O'Rourke  
http://www.amzaon.com/exec/obidox/ISBN-0393702022.8454-6212053-572052  

Digital Character Animation - Maestri  
http://www.amazon.com/exec/obidos/ISBN=1562055593/o/001-2138237-4649548  

UNIX C Shell Field Guide - Anderson & Anderson  
http://www.amazon.com/exec/obidos/ISBN=013937468X/r/001-2138237-4649548  

Algebra and Trigonometry - Bittinger & Beecher  
http://www.amazon.com/exec/obidos/ISBN=0201525100/8454-6212053-572052