Non-orthogonal multiple access (NOMA) systems have the potential to deliver higher system throughput, compared to contemporary orthogonal multiple access techniques. For a linearly precoded multiple-input multiple-output (MISO) system, we study the downlink sum rate maximization problem, when the NOMA principles are applied. Being a non-convex and intractable optimization problem,we resort to approximate it with a minorization-maximization algorithm (MMA), which is a widely used tool in statistics. In each step of the MMA, we solve a second-order cone program, such that the feasibility set in each step contains that of the previous one, and is always guaranteed to be a subset of the feasibility set of the original problem. It should be noted that the algorithm takes a few iterations to converge. Furthermore, we study the conditions under which the achievable rates maximization can be further simplified to a low complexity design problem, and we compute the probability of occurrence of this event. Numerical examples are conducted to show a comparison of the proposed approach against conventional multiple access systems. NOMA is reported to provide better spectral and power efficiency with a polynomial time computational complexity.