If you're interested in how vector calculus developed, and who was instrumental, all the way from Newton/Leibnitz to Dirac or so, by way of Hamilton, Maxwell, Einstein and others, then Robyn Arianrhod's 'Vector' is brilliant.

But be warned, it gets progressively harder, along with the concepts, so unless you're conversant with tensors, at some point you will have to put on your thinking cap.

The reviews on Goodreads – including my own – are worth reading to get a flavour: https://www.goodreads.com/book/show/202104095-vector