| Preface | p. xi |
| Physics According to Newton--A World with No Speed Limit | p. 1 |
| Physics According to Einstein | p. 7 |
| A World with a Speed Limit | p. 7 |
| Making a Clock with Mirrors and Light | p. 8 |
| Lorentz Contraction | p. 12 |
| The Relativity of Simultaneity | p. 14 |
| Time Dilation Revisited | p. 16 |
| Lorentz Contraction Revisited | p. 18 |
| Problems | p. 20 |
| Visualizing Relativity--Minkowski Diagrams | p. 23 |
| Space and Time Axes for Inertial Frames and the Constancy of Light | p. 23 |
| Visualizing the Relativity of Simultaneity, Time Dilation, and Lorentz Contraction | p. 28 |
| The Doppler Effect | p. 32 |
| The Twin Paradox | p. 34 |
| Einstein Meets Shakespeare--Relativistic History | p. 39 |
| Problems | p. 40 |
| Assorted Applications | p. 43 |
| Lorentz Transformation | p. 43 |
| Time Dilation | p. 45 |
| Lorentz Contraction | p. 45 |
| Relativity of Simultaneity | p. 45 |
| Relativistic Velocity Addition | p. 46 |
| Causality, Light Cones, and Proper Time | p. 48 |
| Problems | p. 51 |
| Illustrations and Problems in Space-Time Measurements | p. 55 |
| A Spaceship Rendevous | p. 55 |
| A Hole in the Ice | p. 57 |
| A Velocity Greater Than the Speed Limit? | p. 60 |
| Problems | p. 61 |
| Relativistic Dynamics | p. 64 |
| Energy, Light, and E = mc[superscript 2] | p. 64 |
| Patching up Newtonian Dynamics--Relativistic Momentum and Energy | p. 67 |
| Relativistic Force and Energy Conservation | p. 73 |
| Energy and Momentum Conservation, and Four-Vectors | p. 76 |
| Collisions and Conservation Laws--Converting Mass to Energy and Energy to Mass | p. 79 |
| Further Topics in Special Relativity | p. 85 |
| Problems | p. 86 |
| A Gentle Introduction to General Relativity | p. 93 |
| The Equivalence Principle, Gravity, and Apparent Forces | p. 93 |
| Motion in a Rotating, Relativistic Reference Frame | p. 100 |
| A Look at Curved Surfaces | p. 106 |
| Gravitational Red Shift | p. 110 |
| A Freely Falling Inertial Frame | p. 110 |
| An Accelerating Spaceship | p. 112 |
| Gravitational Red Shift and the Relativity of Simultaneity | p. 113 |
| A Rotating Reference Frame | p. 114 |
| A Famous Experimental Test of Gravitational Red Shift | p. 115 |
| Gravitational Red Shift and Energy Conservation | p. 116 |
| The Twins Again | p. 118 |
| Making the Most out of Time | p. 119 |
| Gravitational Field of a Spherical Mass--The Schwarzschild Metric | p. 120 |
| Bending of Light in a Gravitational Field | p. 122 |
| Closing Comments | p. 126 |
| Problems | p. 128 |
| Illustrations, Problems, and Discussions in General Relativity | p. 129 |
| An Aging Astronaut | p. 129 |
| Geometry and Gravity | p. 131 |
| Does Gravity Make Light Go Faster? | p. 135 |
| Trapping Light (and Other Stuff) in Black Holes | p. 138 |
| Handy Approximations and Expansions | p. 141 |
| Physical Constants, Data, and Conversion Factors | p. 143 |
| Selected Solutions to Problems | p. 144 |
| Chapter 2 Problems | p. 144 |
| Chapter 3 Problems | p. 148 |
| Chapter 4 Problems | p. 150 |
| Chapter 5 Problems | p. 156 |
| Chapter 6 Problems | p. 157 |
| References | p. 173 |
| Index | p. 175 |
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