This is a comprehensive textbook for advanced undergraduates and beginning
graduate students in physics or astrophysics, developing both the formalism and
the physical ideas of special and general relativity in a logical and coherent
way. The book is in two parts. Part one focuses on the special theory and begins
with the study of relativistic kinematics from three points of view: the
physical (the classic gedanken experiments), the algebraic (the Lorentz
transformations), and the graphic (the Minkowski diagrams). Part one concludes
with chapters on relativistic dynamics and electrodynamics. Part two begins with
a chapter introducing differential geometry to set the mathematical background
for general relativity. The physical basis