Comment Caltech lecture notes (Score 1) 358
This book chapter, by Kip Thorne and others, plus a heavy does of vector calculus, will get you there:
http://www.pma.caltech.edu/Courses/ph136/yr2004/0424.1.K.pdf
What is algebra, exactly? Is it one of those three-cornered things? -- J.M. Barrie