1 Special Relativity and Flat Spacetime 1.1 Prelude 1.2 Space and Time, Separately and Together 1.3 Lorentz Transformations 1.4 Vectors 1.5 Dual Vectors (One-Forms) 1.6 Tensors 1.7 Manipulating Tensors 1.8 Maxwell's Equations 1.9 Energy and Momentum 1.10 Classical Field Theory 1.11 Exercises 2 Manifolds 2.1 Gravity as Geometry 2.2 What Is a Manifold? 2.3 Vectors Again 2.4 Tensors Again 2.5 The Metric 2.6 An Expanding Universe 2.7 Causality 2.8 Tensor Densities 2.9 Differential Forms 2.10 Integration 2.11 Exercises 3 Curvature 3.1 Overview 3.2 Covariant Derivatives 3.3 Parallel Transport and Geodesics 3.4 Properties of Geodesics 3.5 The Expanding Universe Revisited 3.6 The Riemann Curvature Tensor 3.7 Properties of the Riemann Tensor 3.8 Symmetries and Killing Vectors 3.9 Maximally Symmetric Spaces 3.10 Geodesic Deviation 3.11 Exercises 4 Gravitation 4.1 Physics in Curved Spacetime 4.2 Einstein's Equation 4.3 Lagrangian Formulation 4.4 Properties of Einstein's Equation 4.5 The Cosmological Constant 4.6 Energy Conditions 4.7 The Equivalence Principle Revisited 4.8 Alternative Theories 4.9 Exercises 5 The Schwarzschild Solution 5.1 The Schwarzschild Metric 5.2 Birkhoff's Theorem 5.3 Singularities 5.4 Geodesics of Schwarzschild 5.5 Experimental Tests 5.6 Schwarzschild Black Holes 5.7 The Maximally Extended Schwarzschild Solution 5.8 Stars and Black Holes 5.9 Exercises 6 More General Black Holes 6.1 The Black Hole Zoo 6.2 Event Horizons 6.3 Killing Horizons 6.4 Mass, Charge, and Spin 6.5 Charged (Reissner-Nordstrom) Black Holes 6.6 Rotating (Kerr) Black Holes 6.7 The Penrose Process and Black-Hole Thermodynamics 6.8 Exercises 7 Perturbation Theory and Gravitational Radiation 8 Cosmology 9 Quantum Field Theory in Curved Spacetime APPENDIXES Bibliography Index