I've written some lecture notes for the Math 485 course Mathematics of the Rubik's cube. The latest "latex" version is nicer (better looking stylistically and has more material) and is now available on the web. For that, go to my books page.
The older ascii version (below) can also be downloaded. They assume a high school mathematics background, some mathematical ability, and that you have a Rubik's cube.
Last modified 7-23-98