Prerequisite concepts
Understanding both difference (how far apart two values are at one time) and change (how far apart the value of a single parameter is at two different times) is necessary for understanding derivatives.
Technically, the derivative is a ratio of small changes in the limit that the change in the denominator goes to zero: $\frac{df}{dx}=\lim_{h \rightarrow 0} \frac{f(x+h)-f(x)}{h}$
Differentials are small changes or differences
One typical notation used for derivatives is Leibniz notation ($e.g.,$ $df/dx$). Physicists often think of the $df$ and $dx$ as distinct quantities (``differentials'') that can be measured, calculated, and manipulated independent of one another. In particular, a differential can be thought of as the (small) change in a quantity when a small change is made to a physical system. A differential can also be thought of as the difference between the values of a quantity between two different (nearby) physical states. This line of thinking is also valuable for thinking about integration in physical situations.
Representations used
$d \vec r$ represents a small displacement vector (i.e., it points along the direction of a step with a magnitude equal to the length of that step).
FIXME: Does the difference between zapping with d and taking the total differential need to be articulated?
FIXME