This book provides a full and clear account of the essentials of calculus, presented in an engaging style that is both readable and mathematically precise. Concepts and central ideas are emphasized throughout. Physical examples and interpretations play a leading role, and alternative approaches to fundamental ways of thinking help the student develop the intuitive understanding so important in science and engineering. Many questions and problems, with detailed solutions, encourage active reading and independent thought. Usable either as a basic classroom text or as a supplement that will give the reader a grasp of calculus as a whole, the book is also ideally suited for self-study.