Einstein A. Relativity. The special and the general theory (Pi Press, 2005)

Robert Geroch builds on Einstein's work with commentary that addresses the ideas at the heart of the theory, bringing a modern understanding of relativity to the text. He elucidates how special relativity is a reconciliation of the contradictions between the nature of light and the principle of relativity; he expands on Einstein's treatment of the geometry of space-time and the fundamental notion of an "event"; he explains in detail, but without technical language, the equivalence of inertial and gravitational mass, a cornerstone of general relativity.

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