This is a textbook on general relativity for upper-division undergraduates majoring in physics, at roughly the same level as Rindler's Essential Relativity or Hartle's Gravity. The book is meant to be especially well adapted for self-study, and answers are given in the back of the book for almost all the problems. The ratio of conceptual to mathematical problems is higher than in most books. The focus is on "index-gymnastics" techniques, to the exclusion of index-free notation. Knowledge of first-year calculus and lower-division mechanics and electromagnetism is assumed. Special relativity is introduced from scratch, but it will be very helpful to have a thorough previous knowledge of SR, at the level of a book such as Taylor and Wheeler's excellent Spacetime Physics.

Brief Contents:

• A geometrical theory of spacetime
• Geometry of flat spacetime
• Differential geometry
• Tensors
• Curvature
• Vacuum solutions
• Symmetries
• Sources
• Gravitational waves