There are four Appendices. The Appendix A contains units of measurements from the Syst?me International d'Unit?s along with some selected physical con stants. The Appendix B contains a listing of Christoffel symbols of the second kind associated with various coordinate systems. The Appendix C is a summary of use ful vector identities. The Appendix D contains solutions to selected exercises. The text has numerous illustrative worked examples and over 450 exercises.