This book provides a concise introduction to the special theory of relativity and the general theory of relativity. The format has been chosen to provide the basis for a single semester course that can take the students all the way from the foundations of special relativity to the core results of general relativity: the Einstein equation, and the equations of motion for particles and light in curved spacetime. To facilitate access to the topics of special and general relativity for science and engineering students, without prior training in relativity or geometry, the relevant geometric notions are also introduced.
