This book develops methods of computing astronomical phenomena from basic ideas. The position of a celestial body is defined by a vector, with components referred to a system of coordinate axes. The relations between various systems in regular use by astronomers are described. In cases where two systems differ in spatial orientation, they are related by a rotation matrix. These matrices are discussed in considerable detail in the mathematical notes. _x000D_ Other topics discussed include: Kepler's Laws and the dynamics of planetary motion, Precession and Nutation, transits of Venus and Mercury, Lagrange points._x000D_ While no previous knowledge of Astronomy is necessary, it is assumed that the reader is familiar with elementary algebra, trigonometry and calculus. |