[1]http://www.amazon.com/gp/aw/d/0691118809/ref=redir_mdp_mobil...
If you are daunted by mathematical formulas and don't have a solid basis in math generally, I would recommend Pickover's "The Math Book"[1]. Very engaging; good short, non-technical descriptions of many of the same topics in Princeton; lots of pretty pictures.
[1] http://www.amazon.com/Math-Book-Pythagoras-Milestones-Mathem...
I also see a Physics book by the same author, but have the same question there too: http://www.amazon.com/Archimedes-Hawking-Science-Great-Behin...
Sit down to read books, it gets boring. Get a real problem to solve, and you learn tons of things along the way.
Don't learn mathematics. It's not supposed to 'learned'. Math is basically what you indicate in notation without you would other wise denote in words while you explore something.
So don't learn, pick up a problem and explore.
Honestly speaking I've only built the circuits simulator, partially built the symbolic math engine and currently working on the physics engine. I have learnt a great deal though.
here's a whirlwind tour http://www.amazon.com/Concepts-Modern-Mathematics-Ian-Stewar...