D. Hestenes. Clifford Algebras and their Applications in Mathematical Physics, volume 55 of Fundamental Theories of Physics, Springer Netherlands, (1993)
D. Hestenes, and G. Sobczyk. D. Reidel ; Distributed in the U.S.A. and Canada by Kluwer Academic Publishers, Dordrecht; Boston; Hingham, MA, U.S.A., (1984)