This book presents the content and applications in an accessible manner while maintaining an appropriate level of rigor. The authors proceed from familiar material to new, and from concrete examples to general rules and formulas. This edition retains its focus on real-world problem solving, but has been refreshed with a wealth of new data in the examples and exercises--42% of the 452 examples are new or revised, and 31% of the 3,741 exercises are new or revised.