| Preface | 6 |
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| Finite-Dimensional Vector Spaces and Linear Mappings | 12 |
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| Fields | 12 |
| Finite-Dimensional Vector Spaces | 14 |
| Linear Mappings of a Vector Space | 20 |
| Dual or Covariant Vector Spaces | 22 |
| Tensor Algebra | 27 |
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| Second-Order Tensors | 27 |
| Higher-Order Tensors | 35 |
| Exterior or Grassmann Algebra | 42 |
| Inner Product Vector Spacesand the Metric Tensor | 53 |
| Tensor Analysis on a Differentiable Manifold | 63 |
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| Differentiable Manifolds | 63 |
| Tangent Vectors, Cotangent Vectors, and Parametrized Curves | 71 |
| Tensor Fields over Differentiable Manifolds | 80 |
| Differential Forms and Exterior Derivatives | 91 |
| Differentiable Manifolds with Connections | 103 |
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| The Affine Connection and Covariant Derivative | 103 |
| Covariant Derivatives of Tensors along a Curve | 112 |
| Lie Bracket, Torsion, and Curvature Tensor | 118 |
| Riemannian and Pseudo-Riemannian Manifolds | 132 |
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| Metric Tensor, Christoffel Symbols, and Ricci Rotation Coefficients | 132 |
| Covariant Derivatives and the Curvature Tensor | 146 |
| Curves, Frenet-Serret Formulas,and Geodesics | 168 |
| Special Coordinate Charts | 192 |
| Special Riemannian and Pseudo-Riemannian Manifolds | 211 |
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| Flat Manifolds | 211 |
| The Space of Constant Curvature | 216 |
| Einstein Spaces | 225 |
| Conformally Flat Spaces | 227 |
| Hypersurfaces, Submanifolds, and Extrinsic Curvature | 236 |
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| Two-Dimensional Surfaces Embedded in a Three-Dimensional Space | 236 |
| (N-1)-Dimensional Hypersurfaces | 244 |
| D-Dimensional Submanifolds | 256 |
| Appendix I Fibre Bundles | 267 |
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| Appendix II Lie Derivatives | 268 |
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| Answers and Hints to Selected Exercises | 281 |
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| References | 285 |
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| List of Symbols | 288 |
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| Index | 291 |