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In the past decade the language and methods ofmodern differential geometry have been increasingly used in theoretical physics. What seemed extravagant when this book first appeared 12 years ago, as lecture notes, is now a commonplace. This fact has strengthened my belief that today students of theoretical physics have to learn that language-and the sooner the better. Afterall, they willbe the professors ofthe twenty-first century and it would be absurd if they were to teach then the mathematics of the nineteenth century. Thus for this new edition I did not change the mathematical language....