Based on only elementary mathematics, this engaging account of chaos theory bridges the gap between introductions for the layman and college-level texts. It develops the science of dynamics in terms of small time steps, describes the phenomenon of chaos through simple examples, and concludes with a close look at a homoclinic tangle, the mathematical monster at the heart of chaos. The presentation is enhanced by many figures, animations of chaotic motion (available on a companion CD), and biographical sketches of the pioneers of dynamics and chaos theory. To ensure accessibility to motivated...