Explores and develops the subject in much greater breadth and depth than other books, offering readers a better understanding of transformation theory, the role of invariants, the uses of various notation systems, and the relations between transformations. Describes how geometric objects may change position, orientation, or even shape when subjected to mathematical operations, while properties characterizing their geometric identity and integrity remain unchanged. Presents eigenvalues, eigenvectors, and tensors in a way that makes it easier for readers to understand. Contains revised and improved figures, with many in color to highlight important features. Provides exercises throughout nearly all of the chapters whose answers are found at the end of the book.