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Understanding Relativity: A Simplified Approach to Einstein's Theories by Leo Sartori (Paperback, 1996)
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Sartori covers general relativity and cosmology, but focuses on Einstein's theory. He explores illuminating paradoxes, including the famous twin paradox, the "pole-in-the-barn" paradox, and the Loedel diagram, which is an accessible, graphic approach to relativity.