The revised and updated 2nd edition of this established
textbook provides a self-contained introduction to the general theory of
relativity, describing not only the physical principles and applications
of the theory, but also the mathematics needed, in particular the
calculus of differential forms.
Updated throughout, the book contains more detailed explanations and
extended discussions of several conceptual points, and strengthened
mathematical deductions where required. It includes examples of work
conducted in the ten years since the first edition of the book was
published, for example the pedagogically helpful concept of a "river of
space" and a more detailed discussion of how far the principle of
relativity is contained in the general theory of relativity. Also
presented is a discussion of the concept of the 'gravitational field' in
Einstein's theory, and some new material concerning the 'twin paradox'
in the theory of relativity.
Finally, the book contains a new section about gravitational waves,
exploring the dramatic progress in this field following the LIGO
observations.
Based on a long-established masters course, the book serves advanced
undergraduate and graduate level students, and also provides a useful
reference for researchers.