A straightforward introduction to General Relativity, explaining the physical, philosophical and mathematical ideas it is built on.

This book serves as a textbook for senior undergraduate students who are learning the subject of general relativity and gravitational waves for the first time.

Suitable for a one-semester course in general relativity for senior undergraduates or beginning graduate students, this text clarifies the mathematical aspects

This is a short textbook on general relativity and gravitation aimed at readers with a broad range of interests in physics, from cosmology to high energy physic

Vectors, tensors and functions -- Manifolds, vectors and differentiation -- Energy, momentum and Einstein's equations