Improved clarity in explanations added in 47 different passages in the text. In addition, two new windows have been added. Twelve new examples that clarify concepts and enhanced problem statements have been added, and ten examples have been modified to improve clarity. Text material deemed outdated and not useful has been removed. Two sections have been dropped and two sections have been completely rewritten. All computer codes have been updated to agree with the latest syntax changes made in MATLAB, Mathematica, and Mathcad. Fifty-four new problems have been added and 94 problems have been modified for clarity and numerical changes. Eight new figures have been added and three previous figures have been modified. Four new equations have been added.