This comprehensive textbook develops in a logical and coherent way both the formalism and the physical ideas of special and general relativity. Part one focuses on the special theory and begins with the study of relativistic kinematics from three points of view. Part two begins with a chapter introducing differential geometry. Subsequent chapters cover: rotation, the electromagnetic field, and material media. A second chapter on differential geometry provides the background for Einstein's gravitational-field equation and Schwarzschild's solution. The book is aimed at advanced undergraduates and beginning graduate students in physics or astrophysics.