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This is a free, online textbook offered in conjunction with MIT's OpenCourseWare.  "Over the last 100 years, the mathematical tools employed by physicists have expanded considerably, from differential calculus, vector algebra and geometry, to advanced linear algebra, tensors, Hilbert space, spinors, Group theory and many others. These sophisticated tools provide powerful machinery for describing the physical world, however, their physical interpretation is often not intuitive. These course notes represent Prof. Tisza's attempt at bringing conceptual clarity and unity to the application and interpretation of these advanced mathematical tools. In particular, there is an emphasis on the unifying role that Group theory plays in classical, relativistic, and quantum physics. Prof. Tisza revisits many elementary problems with an advanced treatment in order to help develop the geometrical intuition for the algebraic machinery that may carry over to more advanced problems."

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