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This textbook gives a comprehensive survey of the analytical treatment of MRI physics and engineering. It gives readers the background needed to cope with the problems that arise when applying MRI in medicine or when (sub)systems or sequences for new applications are designed. Special attention is paid to the treatment of intrinsic artifacts of the different sequences, which can be described in a mathematically uniform way for the different scan methods. The book contains many images, especially showing specific properties of the different scan methods. The methods discussed include RARE, GRACE, EPI, and Spiral Scan. This 2nd edition has been expanded in response to recent developments. In various places the treatment is refined. The chapter on motion and flow is expanded, and a new chapter is added, describing the configuration theory and its use in the understanding of multi-pulse sequences such as BURST, TSE and FFE. A.L. Luiten gives an overview of the early history of MRI imaging.