As a beginner aikido student, I found the essays enlightening. My teacher talks about how all the techniques are connected to these principles but this book kind of helped me picture it a lot better.
About half the book is detailed explanations on how to do the techniques, complete with photographs. Maybe it's just not my learning style but I didn't get a lot out of this, especially without a partner to practice with. It might be more helpful as a reference for you to go back and read the tips after you learn the techniques in class, but I'm only borrowing the book so I can't use it for that.
Overall it's a good book, helped me understand more about the history and philosophy of aikido.