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"The whole thing was basically an experiment," Richard Feynman said late in his career, looking back on the origins of his lectures. The experiment turned out to be hugely successful, spawning publications that have remained definitive and introductory to physics for decades. Ranging from the basic principles of Newtonian physics through such formidable theories as general relativity and quantum mechanics, Feynman's lectures stand as a monument of clear exposition and deep insight.