This book was published previously by Pearson Education. This free edition is made available by the author in the hope that it will be useful as a primary textbook or reference. Reproduction is permitted for any valid noncommercial educational, mathematical, or scientific purpose. It may be posted on faculty web pages for convenience of student downloads. However, sale or charges for profit beyond reasonable printing costs are prohibited. A complete instructor’s solution manual is available by email to wtrench@trinity.edu, subject to verification of the requestor’s faculty status.