Richly illustrated, this introductory text develops the ideas of basic physics and mathematics to introduce the essential principles and results of special relativity. A geometric interpretation of space-time is used so that the general theory is seen as a natural extension of the special theory. Although most results are derived from first principles, complex mathematics is avoided, and all mathematical steps and formulas are fully explained and interpretated. Student guides allow for alternative routes of study, and summaries, worked examples, and exercises are provided to enhance the student's understanding.