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This textbook presents all aspects of climate system dynamics, on all timescales from the Earth's formation to modern human-induced climate change. It discusses the dominant feedbacks and interactions between all the components of the climate system: atmosphere, ocean, land surface and ice sheets. It addresses one of the key challenges for a course on the climate system: students can come from a range of backgrounds. A glossary of key terms is provided for students with little background in the climate sciences, whilst instructors and students with more expertise will appreciate the book's modular nature. Exercises are provided at the end of each chapter for readers to test their understanding. This textbook will be invaluable for any course on climate system dynamics and modeling, and will also be useful for scientists and professionals from other disciplines who want a clear introduction to the topic.