This textbook develops Special Relativity in a systematic way and offers problems with detailed solutions to empower students to gain a real understanding of this core subject in physics. This new edition has been thoroughly updated and has new sections on relativistic fluids, relativistic kinematics and on four-acceleration.The problems and solution section has been significantly expanded and short history sections have been included throughout the book. The approach is structural in the sense that it develops Special Relativity in Minkowski space following the parallel steps as the development of Newtonian Physics in Euclidian space.A second characteristic of the book is that it discusses the mathematics of the theory independently of the physical principles, so that the reader will appreciate their role in the development of the physical theory. The book is intended to be used both as a textbook for an advanced undergraduate teaching course in Special Relativity but also as a reference book for the future.