Why Figure E7-2 shows a series pass transistor with its base held at a fixed reference by a zener diode and dropping resistor, with the load taken from the emitter. The transistor conducts continuously and drops the difference between input and output voltage as heat, so the output sits about one base-emitter drop (0.7 V) below the zener voltage. Continuous conduction with no switching element is the definition of a linear regulator.
Watch out A switching regulator would show an inductor, a catch diode and an oscillator or PWM controller chopping the input; none of those appear here. The transistor is wired as an emitter follower (common collector), not a common emitter or common base amplifier, since the output comes off the emitter and the collector ties to the raw input.
Zener plus resistor plus pass transistor, no coil = linear. See an inductor and catch diode = switching.