OCW is pleased to make this textbook available online. Published in 1991 and still in print from
WellesleyCambridge Press, the book is a useful resource for educators and selflearners alike. It is well organized, covers single variable and multivariable calculus in depth, and is rich with applications. There is also a comprehensive
Textbook and
a student
Study Guide.
Cover of Calculus, by Professor Gilbert Strang. (Image courtesy of Gilbert Strang.)
Calculus Instructor's Manual Components
Notes on the Text (PDF)
Selected Errata (PDF)
1: Introduction to Calculus
1.1 Velocity and Distance
1.2 Calculus Without Limits
1.3 The Velocity at an Instant
1.4 Circular Motion
1.5 A Review of Trigonometry
1.6 A Thousand Points of Light
1.7 Computing in Calculus 
(PDF)

2: Derivatives
2.1 The Derivative of a Function
2.2 Powers and Polynomials
2.3 The Slope and the Tangent Line
2.4 Derivative of the Sine and Cosine
2.5 The Product and Quotient and Power Rules
2.6 Limits
2.7 Continuous Functions 
(PDF) 
3: Applications of the Derivative
3.1 Linear Approximation
3.2 Maximum and Minimum Problems
3.3 Second Derivatives: Minimum vs. Maximum
3.4 Graphs
3.5 Ellipses, Parabolas, and Hyperbolas
3.6 Iterations x,+ ,= F(x,)
3.7 Newton's Method and Chaos
3.8 The Mean Value Theorem and l'Hopital's Rule 
(PDF) 
4: The Chain Rule
4.1 Derivatives by the Charin Rule
4.2 Implicit Differentiation and Related Rates
4.3 Inverse Functions and Their Derivatives
4.4 Inverses of Trigonometric Functions 
(PDF) 
5: Integrals
5.1 The Idea of an Integral
5.2 Antiderivatives
5.3 Summation vs. Integration
5.4 Indefinite Integrals and Substitutions
5.5 The Definite Integral
5.6 Properties of the Integral and the Average Value
5.7 The Fundamental Theorem and Its Consequences
5.8 Numerical Integration 
(PDF) 
6: Exponentials and Logarithms
6.1 An Overview
6.2 The Exponential e^x
6.3 Growth and Decay in Science and Economics
6.4 Logarithms
6.5 Separable Equations Including the Logistic Equation
6.6 Powers Instead of Exponentials
6.7 Hyperbolic Functions 
(PDF) 
7: Techniques of Integration
7.1 Integration by Parts
7.2 Trigonometric Integrals
7.3 Trigonometric Substitutions
7.4 Partial Fractions
7.5 Improper Integrals 
(PDF) 
8: Applications of the Integral
8.1 Areas and Volumes by Slices
8.2 Length of a Plane Curve
8.3 Area of a Surface of Revolution
8.4 Probability and Calculus
8.5 Masses and Moments
8.6 Force, Work, and Energy 
(PDF) 
9: Polar Coordinates and Complex Numbers
9.1 Polar Coordinates
9.2 Polar Equations and Graphs
9.3 Slope, Length, and Area for Polar Curves
9.4 Complex Numbers 
(PDF) 
10: Infinite Series
10.1 The Geometric Series
10.2 Convergence Tests: Positive Series
10.3 Convergence Tests: All Series
10.4 The Taylor Series for e^x, sin x, and cos x
10.5 Power Series 
(PDF) 
11: Vectors and Matrices
11.1 Vectors and Dot Products
11.2 Planes and Projections
11.3 Cross Products and Determinants
11.4 Matrices and Linear Equations
11.5 Linear Algebra in Three Dimensions 
(PDF) 
12: Motion along a Curve
12.1 The Position Vector
12.2 Plane Motion: Projectiles and Cycloids
12.3 Tangent Vector and Normal Vector
12.4 Polar Coordinates and Planetary Motion 
(PDF) 
13: Partial Derivatives
13.1 Surface and Level Curves
13.2 Partial Derivatives
13.3 Tangent Planes and Linear Approximations
13.4 Directional Derivatives and Gradients
13.5 The Chain Rule
13.6 Maxima, Minima, and Saddle Points
13.7 Constraints and Lagrange Multipliers 
(PDF) 
14: Multiple Integrals
14.1 Double Integrals
14.2 Changing to Better Coordinates
14.3 Triple Integrals
14.4 Cylindrical and Spherical Coordinates 
(PDF) 
15: Vector Calculus
15.1 Vector Fields
15.2 Line Integrals
15.3 Green's Theorem
15.4 Surface Integrals
15.5 The Divergence Theorem
15.6 Stokes' Theorem and the Curl of F 
(PDF) 
16: Mathematics after Calculus
16.1 Linear Algebra
16.2 Differential Equations
16.3 Discrete Mathematics 
(PDF) 