Introduction to differentiable manifolds and Riemannian geometry 
Boothby, William M. 
 - Rev. 2nd ed. 
 - Amsterdam ; | New York :  Academic Press,  2003 
 - xiv, 419 p. :  ill. ;  23 cm. 
<br/><br/><label>ISBN: </label>0121160513 (pbk. : acid-free paper)