(calculus knowledge not required, but recommended)
Really enjoy this book.
I even lost my old version and couldn't go without it and bought another because I tend to use this a ton!
For first time learners and or reference.
If you ever want to model basic things for graphics or physics, then the tools learned from this book is essential (emphasis on ESSENTIAL).
Learning to work with systems of equations and vectors are one of the most satisfying things to do when building real life applications.
Highly recommended!