This edition of the book has been revised with the needs of present-day first-year engineering students in mind. Apart from many significant extensions to the text, attention has been paid to the inclusion of additional explanatory material wherever it seems likely to be helpful and to a lowering of the rigour of proofs given in previous editions - without losing sight of the necessity to justify results. New problem sets are included for use with commonly available software products. The mathematical requirements common to first year engineering students of every discipline are covered in detail with numerous illustrative worked examples given throughout the text. Extensive problem sets are given at the end of each chapter with answers to odd-numbered questions provided at the end of the book.