The Geometry of Spacetime: An Introduction to Special and General Relativity (Undergraduate Texts in Mathematics)
暫譯: 時空幾何：特殊與一般相對論導論（數學本科教材）

Hermann Minkowski recast special relativity as essentially a new geometric structure for spacetime. This book looks at the ideas of both Einstein and Minkowski, and then introduces the theory of frames, surfaces and intrinsic geometry, developing the main implications of Einstein's general relativity theory.