I think this book is actually very approachable without much of a mathematics background. It's structured so that you can usually skip the mathy parts (and there aren't many really). Time and space complexity might be a bit tough but it's not that hard to work through. I think the Bayes related math was explained well and should be approachable with next to no math knowledge.

The math is mostly applied and not proofs. There's a fair amount of pseudocode and algorithms but they are explained well and I think it's not hard to follow (our students of different backgrounds usually didn't have problems). I did get a bit tired of the running example of the map of Romania (essentially used for all the search related things). The diagrams for algorithms are very helpful.