Peter Collier wrote his beautiful "A Most Incomprehensible Thing: Notes Towards a Very Gentle Introduction to the Mathematics of Relativity" out of a similar de

Peter Collier wrote his beautiful "A Most Incomprehensible Thing: Notes Towards a Very Gentle Introduction to the Mathematics of Relativity" 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'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's beautiful and enlightening.