I'm so confused.. would anyone like to decipher?

It's about Confucianism, from Book 14 of the Analects.
The Master said, "Nobody understands me, do they?" Zigong said, "Why is it that none of them understands you?" The Master said: "I do not feel resentful towards Heaven and I do not put the blame on men. But although my studies are of lowly things that reach up above, and the one that understands me will be Heaven, will it not?"
The Master said: "If their superior loves the rites, the people will be easy to command."
Yuan Rang was waiting in an oafish manner. The Master said: "When he was young, he was not differential, so when he grew up nothing was passed on by him, and now he is an old man he does not die -- this seems terrible." And he struck his shins with a stick.
What are these paragraphs supposed to mean?? Any ideas?