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JPL Basics of Space Flight - Quite complete, richly illustrated, essentially non-mathematical, and with brief quizes for each section to check your understanding. It's best used in the interactive mode though there is a PDF version as well.
Rocket & Space Technology by Robert A. Braeunig - Not as comprehensive but the explanations are clear and compact. There is a fair amount of high-school-algebra-level math. Also includes an excellent page clearly and simply debunking the "we never went" Moon-landing-hoax nonsense. Very nicely done.
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