Peter Collier wrote his beautiful &quot;A Most Incomprehensible Thing: Notes Towards a Very Gentle Introduction to the Mathematics of Relativity&quot; out of a similar desire... in the introduction he mentions that as a kid he always thought relativity was easy to understand but later came to realize you really can&#x27;t fully appreciate it without the necessary math. So he sat down, took a year off (if I remember correctly) and wrote this book. It&#x27;s beautiful and enlightening.