This book is developed with the intent of presenting the indispensable material of the theory as compactly as possible. This allows the option of self study on the part of the student or for an advanced undergraduate lecture course to be developed that uses the material presented here as its basis. The text provides the necessary mathematics in tensor analysis and differential geometry in the first part of the text, and derives the fundamental physical properties of the theory in the second part. The book is intended as an introduction to the theory and treats each subject as such.