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I was wondering what book would be useful in learning special relativity and basic general relativity. I know vector calculus, multivariable calculus, and a bit of variational calculus. I'm looking for something that takes an informal approach to the underlying mathematics(but still rigorous). I'd liek the book to start from special relativity.

I obviously know basic, mechanics, basic relativity, and a bit of celestial mechanics.

I obviously know basic, mechanics, basic relativity, and a bit of celestial mechanics.

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