Placing number forms on a large circle with beanbags and then tracing the forms by walking the numbers can be effective for both learning the forms and preventing reversals. Young children learn especially well with this sort of whole-body approach. This method can also be used for learning correct letter formation. directions in my comments idea from Mathbyhand.com

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Age 8 ~ Math ~ Skip Counting ~ Circle Chart ~ main lesson book

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Such a simple (very Montessori) game. You can also do this with dice for younger kids instead of cards.

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Waldorf ~ 6th grade ~ Math ~ Geometry ~ Circles

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Popsicle sticks and beans to foster number recognition, counting, etc...

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Skip Counting Number Wheel - Waldorf Math. I've never seen this before and it looks fun!

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Waldorf ~ 2nd grade ~ Math ~ Place Value ~ main lesson book

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Waldorf ~ 2nd grade ~ Math ~ Facts ~ Multiplication Wheel

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Gnome Math's tale. Awesome way of learning about maths!!

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Waldorf ~ 4th grade ~ Math ~ Fractions ~ chalkboard drawing

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