This text is ideal for junior-, senior-, and graduate-level courses in computer graphics and computer-aided design taught in departments of mechanical and aeronautical engineering and computer science. It presents in a unified manner an introduction to the mathematical theory underlying computer graphic applications. It covers topics of keen interest to students in engineering and computer science: transformations, projections, 2-D and 3-D curve definition schemes, and surface definitions. It also includes techniques, such as B-splines, which are incorporated as part of the software in advanced engineering workstations. A basic knowledge of vector and matrix algebra and calculus is required.