Strings
An alphabet is any finite set, whose members are called symbols (equivalently: letters or characters). We typically use $\Sigma$ to denote a generic alphabet and $a,b,c,d$ to denote its letters.
A string (equivalently: word) over an alphabet $\Sigma$ is a finite sequence of characters from $\Sigma$. The sequence may be empty, and we write the empty string as $\epsilon$. We typically use $u,v,w,x,y,z$ to denote a generic string.
The set of all strings over the alphabet $\Sigma$ is written $\Sigma^*$.
We will refer to a set of strings as a language.
The length of a string $w$, written $|w|$, is just the number of characters in the string. That is, if $x = a_1\cdots{}a_k$ then $|x| = k$.
A string $w$ is said to be a substring of a string $v$ just if $w$ appears consecutively in $v$.
Given strings $x$ and $y$, we write $xy$ for the string obtained by concatenating $y$ to the end of $x$. That is, if $x = x_1\cdots{}x_k$ and $y = y_1 \cdots{} y_m$ then $xy = x_1\cdots{}x_k y_1 \cdots{} y_m$.
We write $w^k$ for the $k$-fold concatenation of $w$ with itself, i.e. the word $\underbrace{ww\cdots{}w}_{\text{$k$-times}}$.