[whatwg/dom] Events section should non-normatively summarise terminology (#474)

As someone who rarely touches this nowadays, there's nothing clearly and summarily stating what the differences between firing, dispatching, and invoking an event are, and trying to figure this out from the algorithms is painful.

For people reading the spec with no background knowledge, we probably also want to give a reasonable definition of a listener as well. (There's probably further terms we should reasonable introduce.)

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