Abstract
The Lorentz force law is obtained by boosting Coulomb's law of electrostatics. The magnetic field is discovered as a consequence and is seen to be an implication of relativity and the existence of the electric field. The transformation laws of the electric and magnetic fields are derived from the requirement that the Lorentz force law satisfies the principles of relativity. Electric and magnetic field components mix under boosts, so either field gives an incomplete picture of the electromagnetic field: the electromagnetic field consists of six components; three are electric and three are magnetic in any particular reference frame. The four-vector versions of acceleration and force are introduced.
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