After receiving my undergraduate degree at Harvey Mudd College and my PhD from Caltech, I joined the Mathematics Department at Claremont McKenna College, where I have continued to teach, specializing in calculus, linear algebra, and differential equations. I love to write, and in addition to this text have written published texts on engineering calculus and linear algebra. My wife, Jaqui, and I are active supporters of recording textbooks for the blind and dyslexic. We also travel whenever we get a chance and especially enjoy cruising. Our favorite destinations have been Crete, Barcelona, and