All physical scientists and engineers need mathematical tools in their everyday work. This book presents mathematics in a form appropriate for undergraduate courses. The material covered is comprehensive, and takes the student from the level of starting college or university to the end of the most mathematical of science courses. It also provides a valuable reference for advanced students and active researchers in physics, engineering, chemistry, applied mathematics and earth science. Throughout the text, the physical relevance of the mathematics is constantly reinforced, and numerous physical worked examples are included. In this way, it provides scientists who need to use the tools of mathematics for practical purposes with a single, comprehensive textbook. Students will find the book friendly and approachable, and graduate students and researchers will find it an invaluable reference.