Table of Contents

I Graphs and Level Sets.- 2 Vector Fields.- 3 The Tangent Space.- 4 Surfaces.- 5 Vector Fields on Surfaces; Orientation.- 6 The Gauss Map.- 7 Geodesics.- 8 Parallel Transport.- 9 The Weingarten Map.- 10 Curvature of Plane Curves.- 11 Arc Length and Line Integrals.- 12 Curvature of Surfaces.- 13 Convex Surfaces.- 14 Parametrized Surfaces.- 15 Local Equivalence of Surfaces and Parametrized Surfaces.- 16 Focal Points.- 17 Surface Area and Volume.- 18 Minimal Surfaces.- 19 The Exponential Map.- 20 Surfaces with Boundary.- 21 The Gauss-Bonnet Theorem.- 22 Rigid Motions and Congruence.- 23 Isometries.- 24 Riemannian Metrics.- Notational Index.

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