Curves and surfaces are objects that everyone can see, and many of the questions that can be asked about them are natural and easily understood. Differential geometry is concerned with the precise mathematical formulation of some of these questions, and with trying to answer them using calculus techniques. It is a subject that contains some of the most beautiful and profound results in mathematics, yet many of them are accessible to higher level undergraduates."Elementary Differential Geometry" presents the main results in the differential geometry of curves and surfaces while keeping the prerequisites to an absolute minimum. Nothing more than first courses in linear algebra and multivariate calculus are required, and the most direct and straightforward approach is used at all times. Numerous diagrams illustrate both the ideas in the text and the examples of curves and surfaces discussed there. The second edition has extra exercises with solutions available to lecturers online. There is additional material on Map Colouring, Holonomy and geodesic curvature and various additions to existing sections.