Following the style of The Physics Companion and The Electronics Companion, this book is a revision aid and study guide for undergraduate students in physics and engineering. It consists of a series of one-page-per-topic descriptions of the key concepts covered in a typical first-year "mathematics for physics" course. The emphasis is placed on relating the mathematical principles being introduced to real-life physical problems. In common with the other companions, there is strong use of figures throughout to help in understanding of the concepts under consideration. The book will be an essential reference and revision guide, particularly for those students who do not have a strong background in mathematics when beginning their degree.