This textbook takes a streamlined, practical approach, designed to make engineering mathematics accessible and manageable for undergraduate students and instructors alike. Students will gain a fundamental understanding within the scope of a two-semester course. This textbook introduces students to the fundamental principles of engineering mathematics through concise explanations, systematically guiding them from the basics of first-order, second-order, and higher-order ordinary differential equations (ODEs), Laplace transforms, and series solutions of ODEs. It then transitions to more advanced topics, including linear algebra, linear system of ODEs, vector differential calculus and vector integral calculus, Fourier analysis, partial differential equations (PDEs), and concludes with complex numbers, complex functions, and complex integration. The book presents fundamental principles systematically with concise explanations. It features categorized key concepts, detailed solutions, and alternative methods to connect material to prior knowledge. Exercises are thoughtfully organized, balancing problem-solving practice with real-world applications in fields like mechanical engineering, electrical engineering, chemical engineering, and so on. Notably, this book incorporates MATLAB to enhance understanding. MATLAB-based examples simplify complex calculations, offering visualizations that connect theory and practice. Chapters also include optional advanced topics, providing deeper insights for motivated learners. Designed with practicality in mind, this book offers a balanced approach to mastering engineering mathematics, with a manageable workload aligned to academic schedules. It is an invaluable resource for instructors seeking effective teaching tools and for students aiming to build strong mathematical foundations that they can apply to their own engineering discipline.