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This is a comprehensive self-contained text suitable for use by undergraduate mathematics, science and engineering students following courses in vector analysis. The earlier editions have been used extensively in the design and teaching of may undergraduate courses. Vectors are introduced in terms of Cartesian components, an approach which is found to appeal to many students because of the basic algebraic rules of composition of vectors and the definitions of gradient divergence and curl are thus made particularly simple. The theory is complete, and intended to be as rigorous as possible at the level at which it is aimed.