We give a concise, self-contained introduction to perturbation theory in
cosmology at linear and second order, striking a balance between mathematical
rigour and usability. In particular we discuss gauge issues and the active and
passive approach to calculating gauge transformations. We also construct
gauge-invariant variables, including the second order tensor perturbation on
uniform curvature hypersurfaces.Comment: revtex4, 16 pages, 3 figures; v2: minor changes, typos corrected,
reference added, version accepted by CQ