Pretty much any chapter of Mermin’s It’s About Time is the best explanation I’ve ever read of its content matter, and he is not shy of giving you the maths to back up the intuition (or even to motivate it in some cases). If I had to pick one chapter, it would, perhaps oddly, probably be the first one, which explains Galilean relativity extraordinarily well.
Pretty much any chapter of Mermin’s It’s About Time is the best explanation I’ve ever read of its content matter, and he is not shy of giving you the maths to back up the intuition (or even to motivate it in some cases). If I had to pick one chapter, it would, perhaps oddly, probably be the first one, which explains Galilean relativity extraordinarily well.