This textbook covers multi-variable and vector calculus, emphasizing the historical physical problems which gave rise to the concepts of calculus. The exercises and observations of mathematical symmetry studied in the text enable the student to better understand the interaction of physics and mathematics.

1 F=ma.- 1.1 Prelude to Newton's Principia.- 1.2 Equal Area in Equal Time.- 1.3 The Law of Gravity.- 1.4 Exercises.- 1.5 Reprise with Calculus.- 1.6 Exercises.- 2 Vector Algebra.- 2.1 Basic Notions.- 2.2 The Dot Product.- 2.3 The Cross Product.- 2.4 Using Vector Algebra.- 2.5 Exercises.- 3 Celestial Mechanics.- 3.1 The Calculus of Curves.- 3.2 Exercises.- 3.3 Orbital Mechanics.- 3.4 Exercises.- 4 Differential Forms.- 4.1 Some History.- 4.2 Differential 1-Forms.- 4.3 Exercises.- 4.4 Constant Differential 2-Forms.- 4.5 Exercises.- 4.6 Constant Differential k-Forms.- 4.7 Prospects.- 4.8 Exercises.- 5 Line Integrals, Multiple Integrals.- 5.1 The Riemann Integral.- 5.2 Line Integrals.- 5.3 Exercises.- 5.4 Multiple Integrals.- 5.5 Using Multiple Integrals.- 5.6 Exercises.- 6 Linear Transformations.- 6.1 Basic Notions.- 6.2 Determinants.- 6.3 History and Comments.- 6.4 Exercises.- 6.5 Invertibility.- 6.6 Exercises.- 7 Differential Calculus.- 7.1 Limits.- 7.2 Exercises.- 7.3 Directional Derivatives.- 7.4 The Derivative.- 7.5 Exercises.- 7.6 The Chain Rule.- 7.7 Using the Gradient.- 7.8 Exercises.- 8 Integration by Pullback.- 8.1 Change of Variables.- 8.2 Interlude with Lagrange.- 8.3 Exercises.- 8.4 The Surface Integral.- 8.5 Heat Flow.- 8.6 Exercises.- 9 Techniques of Differential Calculus.- 9.1 Implicit Differentiation.- 9.2 Invertibility.- 9.3 Exercises.- 9.4 Locating Extrema.- 9.5 Taylor's Formula in Several Variables.- 9.6 Exercises.- 9.7 Lagrange Multipliers.- 9.8 Exercises.- 10 The Fundamental Theorem of Calculus.- 10.1 Overview.- 10.2 Independence of Path.- 10.3 Exercises.- 10.4 The Divergence Theorems.- 10.5 Exercises.- 10.6 Stokes' Theorem.- 10.7 Summary for R3.- 10.8 Exercises.- 10.9 Potential Theory.- 11 E = mc2.- 11.1 Prelude to Maxwell's Dynamical Theory.-11.2 Flow in Space-Time.- 11.3 Electromagnetic Potential.- 11.4 Exercises.- 11.5 Special Relativity.- 11.6 Exercises.- Appendices.- A An Opportunity Missed 361.- B Bibliography 365.- C Clues and Solutions 367.- Index 382.