The Geometry of Physics

Problem Solutions
David Luposchainsky
30. 10. 2010
These are my solutions to problems given in Theodore Frankels book The Ge-
ometry of Physics (second edition). As I could not nd any other sources, I do not
know whether they are correct or not, so read with care (especially the index battles).
If you have a solution that is not in here already, a better way of showing something,
or just some useful comment, Id like to hear about it
1
.
Conventions
If not mentioned dierently, use the following conventions:
Use Einstein summation. Sometimes, Ill typeset a

for clarication, though
technically unnecessary.
The used in the book will be used implicitly, i.e. multiindices are always
assumed to be in ascending order.
Abbreviations concerning the metric tensor: g := [ det (g
ij
[), s := sign (det (g
ij
))
1
e-mail: stupid underscore name at gmx dot net
Contents 2
Contents
Manifolds, Tensors and Exterior Forms 4
2. Tensors and Exterior Forms . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.4 Tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.4(2)(i) Contraction invariant under base transformation . . 4
2.4(2)(ii) Non-invariant contraction . . . . . . . . . . . . . . 4
2.4(3)(i) Transformation behavior of a contraction . . . . . . 4
2.4(3)(ii) Tensor? . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.4(3)(iii) Tensor? second attempt . . . . . . . . . . . . . . 5
2.5 The Gramann or Exterior Algebra . . . . . . . . . . . . . . . . . 5
2.5(1) Basis expansion of a form . . . . . . . . . . . . . . . . 5
2.5(2) Components of
1

2
. . . . . . . . . . . . . . . . . . 5
2.6 Exterior Dierentiation . . . . . . . . . . . . . . . . . . . . . . . . 6
2.6(1) Dierential of a 3-Form in R
4
. . . . . . . . . . . . . . 6
2.7 Pull-Backs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.7(1) Proof of homomorphism . . . . . . . . . . . . . . . . . 6
2.7(2) Pull-back onto a surface . . . . . . . . . . . . . . . . . 7
2.10 Interior Products and Vector Analysis . . . . . . . . . . . . . . . 7
2.10(2) Components of the interior product . . . . . . . . . . 7
2.10(4) Vector analysis in R
3
. . . . . . . . . . . . . . . . . . 7
2.10(5) Basis expansion of the cross product . . . . . . . . . . 8
3. Integration of Dierential Forms . . . . . . . . . . . . . . . . . . . . . . . 8
3.1 Integration over a Parameterized Subset . . . . . . . . . . . . . . . 8
3.1(3)(i) Higher-dimensional cross product . . . . . . . . . . . 8
3.3 Stokes Theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.3(1) ... in R
3
. . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.3(2) ... in R
4
. . . . . . . . . . . . . . . . . . . . . . . . . . 9
4. The Lie derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.1 The Lie Derivative of a Vector Field . . . . . . . . . . . . . . . . . 10
4.1(1) Coordinate expression for [X, Y] . . . . . . . . . . . . . 10
4.2 The Lie Derivative of a Form . . . . . . . . . . . . . . . . . . . . . 10
4.2(1) Coordinate expression for L
X

1
. . . . . . . . . . . . . . 10
4.2(2) Compositions of derivations and antiderivations . . . . . 10
4.2(3) i
[X,Y]
= L
X
i
Y
i
Y
L
X
. . . . . . . . . . . . . . . . . 11
4.2(3) Fugly proof of d(X, Y) = X((Y))Y((X))([X, Y]) 11
4.4 A problem set on Hamiltonian mechanics . . . . . . . . . . . . . . 12
4.4(1) Symplectic form . . . . . . . . . . . . . . . . . . . . . . . 12
4.4(1) Symplectic volume form . . . . . . . . . . . . . . . . . . 12
P. 147: Derivation of Hamiltons equations . . . . . . . . . . . 12
4.4(4) Hamilton in shrt . . . . . . . . . . . . . . . . . . . . . . 13
4.4(5) Lie derivative of the symplectic Poincar 2-form . . . . . 13
4.4(8) Hmltn n shrtr . . . . . . . . . . . . . . . . . . . . . . . . 13
4.4(9) Lie derivative of the pre-symplectic Poincar 2-form . . . 14
5. The Poincar Lemma and Potentials . . . . . . . . . . . . . . . . . . . . 14
5.5 Finding potentials . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.5(1) Product of a closed and an exact form . . . . . . . . . . 14
Contents 3
7. R
3
and Minkowski Space . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.2 Electromagnetism in Minkowski Space . . . . . . . . . . . . . . . . 14
7.2(3) Field strength 2-Form . . . . . . . . . . . . . . . . . . . 14
9. Covariant dierentiation and Curvature . . . . . . . . . . . . . . . . . . . 15
9.3 Cartans Exterior Covariant Dierential . . . . . . . . . . . . . . . 15
9.3(1) Basis expansion of the curvature form . . . . . . . . . . 15
9.3(2) Covariant derivative of the identity form . . . . . . . . . 15
9.4 Change of Basis and Gauge Transformations . . . . . . . . . . . . 16
9.4(1) Transformation of the curvature form . . . . . . . . . . . 16
15. Lie groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
15.2 One-parameter subgroups . . . . . . . . . . . . . . . . . . . . . . 17
15.2(1) Generator of rotations . . . . . . . . . . . . . . . . . . . 17
15.2(2) Generator of A(1) . . . . . . . . . . . . . . . . . . . . . 17
Manifolds, Tensors and Exterior Forms 4
Manifolds, Tensors and Exterior Forms
2. Tensors and Exterior Forms
2.4 Tensors
2.4(2)(i) Contraction invariant under base transformation
A
i
j
= A(dx
i
,

i
) = A
_
x
i
x
j
dx
j
,
x
k
x
i

k
_
=
x
i
x
j
x
k
x
i
. .
x
k
x
j
=
k
j
A
_
dx
j
,
k
_
. .
=A
j
k
= A
j
j
This is the transformation law of a scalar.
2.4(2)(ii) Non-invariant contraction

i
A

ii
=

i
A(

i
,

i
) =

i
A
_
x
j
x
i

j
,
x
k
x
i

k
_
=

i
x
j
x
i
x
k
x
i
A(
j
,
k
)
. .
=A
jk
=

i
x
j
x
i
x
k
x
i
A
jk
,= A
ii
Since the dierential quotients do not cancel out, the value of

i
A
ii
is dependant
on coordinates; a coordinate-dependant number is neither a scalar nor any other sort
of tensor.
2.4(3)(i) Transformation behavior of a contraction
g

ji
v
i
=
x
k
x
j
x

x
i
g
k
x
i
x
m
v
m
=
x
k
x
j
x

x
i
x
i
x
m
. .
=

m
g
k
v
m
=
x
k
x
j
g
k
v

Thus, g
ji
v
i
transforms like a vector.
2.4(3)(ii) Tensor?

j
v
i
=

x
j
_
x
i
x
k
v
k
_
=

2
x
i
x

x
k
x

x
j
v
k
+
x
i
x
k
v
k
x
j
=

2
x
i
x

x
k
x

x
j
v
k
+
x
i
x
k
v
k
x

..
=

v
k
x

x
j
=

2
x
i
x

x
k
x

x
j
v
k
. .
=0
+
x

x
j
x
i
x
k

v
k
Although the second term is the correct tensor transformation law, the rst term
prevents
j
v
i
from forming a tensor.
2. Tensors and Exterior Forms 5
2.4(3)(iii) Tensor? second attempt
Using the result of (ii), one gets

j
v
i

i
v
j
=

2
x
i
x

x
k
x

x
j
v
k
+
x

x
j
x
i
x
k

v
k

2
x
j
x

x
k
x

x
i
v
k

x
i
x
j
x
k

v
k
=
_

2
x
i
x

x
k
x

x
j
v
k

2
x
j
x

x
k
x

x
i
v
k
_
+
_
x

x
j
x
i
x
k

v
k

x
i
x
j
x
k

v
k
_
,= 0 +
x

x
j
x
i
x
k
_

v
k

k
v

_
2.5 The Gramann or Exterior Algebra
2.5(1) Basis expansion of a form
_
a
J
dx
J
_
(
K
) = a
J
dx
J
(
K
) = a
J

J
K
= a
K
= (
K
)
Since this is true for all
K
, = a
J
dx
J
.
2.5(2) Components of
1

2
(
1

2
)
i<j<k
=

l,m<n

lmn
ijk

l

mn
All summands where ijk is not a permutation of lmn vanish, so there are 6 possible
permutations left:
(A) (B) (C) (D) (E) (F)
i = l i = m i = n i = l i = n i = m
j = m j = n j = l j = n j = m j = l
k = n k = l k = m k = m k = l k = n
Of these 6, (C), (D) and (E) contradict i < j < k (given by the problem) with re-
spect to m < n (from the denition of the wedge product), leaving only 3 summands.
Thus,
(
1

2
)
i<j<k
=

l,m<n

lmn
ijk

l

mn
=
ijk
ijk
..
(A)+1

jk
+
kij
ijk
..
(B)+1

ij
+
jik
ijk
..
(F)1

j

ik
..

ki
=
i

jk
+
j

ki
+
k

ij
.
2. Tensors and Exterior Forms 6
2.6 Exterior Dierentiation
2.6(1) Dierential of a 3-Form in R
4

3
=
J
dx
J
=

i<j<k

ijk
dx
i
dx
j
dx
k
=
123
dx
1
dx
2
dx
3
+
124
dx
1
dx
2
dx
4
+
134
dx
1
dx
3
dx
4
+
234
dx
2
dx
3
dx
4
d
3
= d
123
dx
1
dx
2
dx
3
+ d
124
dx
1
dx
2
dx
4
+ d
134
dx
1
dx
3
dx
4
+ d
234
dx
2
dx
3
dx
4
=

123
x
i
dx
i
dx
1
dx
2
dx
3
+

124
x
i
dx
i
dx
1
dx
2
dx
4
+

134
x
i
dx
i
dx
1
dx
3
dx
4
+

234
x
i
dx
i
dx
2
dx
3
dx
4
=

123
x
4
dx
4
dx
1
dx
2
dx
3
+

124
x
3
dx
3
dx
1
dx
2
dx
4
+

134
x
2
dx
2
dx
1
dx
3
dx
4
+

234
x
1
dx
1
dx
2
dx
3
dx
4
=
(
123
)
x
4
dx
1
dx
2
dx
3
dx
4
+

124
x
3
dx
1
dx
2
dx
3
dx
4
+
(
134
)
x
2
dx
1
dx
2
dx
3
dx
4
+

234
x
1
dx
1
dx
2
dx
3
dx
4
rename components:
234

1
,
134

2
,
124

3
,
123

4
=
_

1
x
1
+

2
x
2
+

3
x
3
+

4
x
4
_
dx
1
dx
2
dx
3
dx
4
In cartesian coordinates, this says something like d(B dV) = div (B) dH (H: Hy-
perspace volume).
2.7 Pull-Backs
2.7(1) Proof of homomorphism
Notation: Let (F

v
I
) = (F

v
i
1
, F

v
i
2
, . . .) .
F

( ) (v
I
) = ( ) (F

v
I
) =

J,K

JK
I
(F

v
J
) (F

v
K
) = (F

v
J
) (F

v
K
)
= (F

(v
J
)) (F

(v
K
)) v
I
(= v
JK
)
F

( ) = (F

) (F

)
2. Tensors and Exterior Forms 7
2.7(2) Pull-back onto a surface
Let (u, v) = (y
1
, y
2
).

2
=
12
dx
1
dx
2
+
13
dx
1
dx
3
+
23
dx
2
dx
3
i

=
12
x
1
y
i
dy
i

x
2
y
j
dy
j
+
13
x
1
y
i
dy
i

x
3
y
j
dy
j
+
23
x
2
y
i
dy
i

x
3
y
j
dy
j
=
12
_

x
1
y
1
dy
1

x
2
y
1
dy
1
+
x
1
y
1
dy
1

x
2
y
2
dy
2
+
x
1
y
2
dy
2

x
2
y
1
dy
1
+

x
1
y
2
dy
2

x
2
y
2
dy
2
_
+
13
_

x
1
y
1
dy
1

x
3
y
1
dy
1
+
x
1
y
1
dy
1

x
3
y
2
dy
2
+
x
1
y
2
dy
2

x
3
y
1
dy
1
+

x
1
y
2
dy
2

x
3
y
2
dy
2
_
+
23
_

x
2
y
1
dy
1

x
3
y
1
dy
1
+
x
2
y
1
dy
1

x
3
y
2
dy
2
+
x
2
y
2
dy
2

x
3
y
1
dy
1
+

x
2
y
2
dy
2

x
3
y
2
dy
2
_
=
_

12
_
x
1
y
1
x
2
y
2

x
1
y
2
x
2
y
1
_
+
13
_
x
1
y
1
x
3
y
2

x
1
y
2
x
3
y
1
_
+
23
_
x
2
y
1
x
3
y
2

x
2
y
2
x
3
y
1
__
dy
1
dy
2
If one now denes, by renaming the components of again (
23

1
,
13
=
31

2
,
12

3
), b = (
1
,
2
,
3
), the last term can be identied as b ndy
1
dy
2
, and
one gets the desired expression
i

= b ndu dv .
2.10 Interior Products and Vector Analysis
2.10(2) Components of the interior product
Let =
J
dx
J
. In general we have the expansion
i
v
= i
v
j

j
_
(
k
,
L
) dx
k
dx
L
_
= v
j
(
j
,
L
) dx
L
= v
j

jL
dx
L
For a single component this yields
(i
v
)
K
=
_
v
j

jL
dx
L
_
(
K
) = v
j

jL
dx
L
(
K
) = v
j

jL

L
K
= v
j

jK
2.10(4) Vector analysis in R
3
grad(fg) d(f
0
g
0
) = df g +f dg =
grad(f)
..
(df) g +f
grad(g)
..
(dg) f grad(g) +g grad(f)
div (f B) d(f
2
) =
grad(f)
..
df
2
. .
grad(f)B
+ f d
2
..
div(B)
f div (B) +grad(f) , B)
3. Integration of Dierential Forms 8
2.10(5) Basis expansion of the cross product
v B i
v

2
= i
v
i
B
vol
3
= v
k
B
l
i

k
i

l
vol
3
= v
k
B
l
vol
3
(
l
,
k
,
m
)dx
m
=

g v
k
B
l

klm
dx
m
If youre wondering how the identication stu works, read the chapter about
the Hodge star operator, its around page 360. I have no idea why Frankel placed
it that late. You might also be interested in the denition of the cross product in
3.1(3)(i).
3. Integration of Dierential Forms
3.1 Integration over a Parameterized Subset
3.1(3)(i) Higher-dimensional cross product
A
i
(A
1
A
i
A
n1
) := vol
n
(A
i
, A
1
, . . . , A
i
, . . . A
n1
) = 0
3.3 Stokes Theorem
3.3(1) ... in R
3
p = 2

1
= w
1
dx
1
+w
2
dx
2
+w
3
dx
3
d
1
=
_
w
3
x
2
+
w
2
x
3
_
dx
2
dx
3
+
_
w
3
x
1
+
w
1
x
3
_
dx
1
dx
3
+
_
w
2
x
1
+
w
1
x
2
_
dx
1
dx
2
This corresponds to the classical Stokes Theorem
_
A
rot (W) dA =
_
A
Wds
p = 3

2
= w
12
dx
1
dx
2
+w
13
dx
1
dx
3
+w
23
dx
2
dx
3
d
2
=
_
w
23
x
1
+
w
31
x
2
+
w
12
x
3
_
dx
1
dx
2
dx
3
This corresponds to Gaus Law
_
V
div (W) dV =
_
V
WdA
3. Integration of Dierential Forms 9
3.3(2) ... in R
4
p = 2

1
= w
1
dx
1
+w
2
dx
2
+w
3
dx
3
+w
4
dx
4
d
1
=
_
w
1
x
2

w
2
x
1
_
dx
1
dx
2
+
_
w
1
x
3

w
3
x
1
_
dx
1
dx
3
+
_
w
1
x
4

w
4
x
1
_
dx
1
dx
4
+
_
w
2
x
3

w
3
x
2
_
dx
2
dx
3
+
_
w
2
x
4

w
4
x
2
_
dx
2
dx
4
+
_
w
3
x
4

w
4
x
3
_
dx
3
dx
4
It could be said to be some analogon to the classical Stokes Theorem in R
4
_
A
curl (W) dA =
_
A
Wds
p = 3

2
= w
12
dx
1
dx
2
+w
13
dx
1
dx
3
+w
14
dx
1
dx
4
+w
23
dx
2
dx
3
+w
24
dx
2
dx
4
+w
34
dx
3
dx
4
d
2
=
_
w
12
x
3

w
13
x
2
+
w
23
x
1
_
dx
1
dx
2
dx
3
+
_
w
12
x
4

w
14
x
2
+
w
24
x
1
_
dx
1
dx
2
dx
4
+
_
w
13
x
4

w
14
x
3
+
w
34
x
1
_
dx
1
dx
3
dx
4
+
_
w
23
x
4

w
24
x
3
+
w
34
x
2
_
dx
2
dx
3
dx
4
The classical analogon is of obviously
_
V
wtf(W) dV =
_
V
WdA
p = 4

3
and d
3
have already been calculated in 2.6(1). Using these forms, one gets
a 4-dimensional analogon to Gaus Theorem
_
H
div (W) dH =
_
H
WdV
4. The Lie derivative 10
4. The Lie derivative
4.1 The Lie Derivative of a Vector Field
4.1(1) Coordinate expression for [X, Y]
[X, Y] = X(Y) Y(X) = X
i

u
i
_
Y
j

u
j
_
Y
j

u
j
_
X
i

u
i
_
= X
i
Y
j
u
i

u
i
+

X
i
Y
j

2
u
i
u
j
Y
j
X
i
u
j

u
i

Y
i
X
j

2
u
j
u
j
=
_
X
i
Y
j
u
i
Y
i
X
j
u
i
_

u
j
4.2 The Lie Derivative of a Form
4.2(1) Coordinate expression for L
X

1
L
X

1
= i
X
d + di
X
= i
X
d
i
du
i
+ di
X

i
du
i
= i
X
d
i
du
i
+ d
i
du
i
(X)
= i
X

i
u
j
du
j
du
i
+

i
u
j
du
j
X
i
+
i
X
i
u
j
du
j
=

i
u
j
_
i
X
du
j
_
. .
=X
j
du
i

i
u
j
du
j
_
i
X
du
i
_
. .
=X
i
+

i
u
j
du
j
X
i
+
i
X
i
u
j
du
j
=

i
u
j
X
j
du
i

j
u
i
X
j
du
i
+

j
u
i
X
j
du
i
. .
=0
+
j
X
j
u
i
du
i
=
_
X
j

i
u
j
+
X
j
u
i

j
_
du
i
4.2(2) Compositions of derivations and antiderivations
(AA)(
p

q
) = (A + (1)
p
A) A( + )
= A +A + (1)
p
A + (1)
p
A
A (1)
deg()
A A (1)
p
A
(Notice that derivations alter their arguments degree by
an even number; thus the 2nd and 7th, and the 3rd and 6th
summand cancel each other out)
= (AA) + (1)
p
(AA)
4. The Lie derivative 11
(AB BA)(
p

q
) = A(B + (1)
p
B) B(A + (1)
p
A)
= AB + (1)
deg(B)
B A + (1)
p
A B
+ (1)
p
(1)
p
. .
=1
AB +BA + (1)
deg(A)
A B
+ (1)
p
B A + (1)
p
(1)
p
. .
=1
BA
(Again, the 2nd and 7th, 2nd and 6th summands cancel out
as an antiderivation alters its arguments degree by an
uneven number)
= (AB +BA) + (AB +BA)
4.2(3) i
[X,Y]
= L
X
i
Y
i
Y
L
X
As stated in the corresponding chapter, its enough to verify the formula for functions
and dierentials of functions.
Functions:
i
[X,Y]
f = 0
L
X
i
Y
f
..
=0
i
Y
L
X
f
. .
=0
= 0
Dierentials:
i
[X,Y]
df = df([X, Y])
= [X, Y](f)
L
X
i
Y
df i
Y
L
X
df = i
X
di
Y
df + di
X
i
Y
df
. .
=0
i
Y
i
X
dd
..
=0
f i
Y
di
X
df
= i
X
dY(f) i
Y
dX(f) = X(Y(f)) Y(X(f))
= [X, Y](f)
4.2(3) Fugly proof of d(X, Y) = X((Y)) Y((X)) ([X, Y])
Step 1: Calculate single terms.
d(X, Y) = X
k
Y
l

i
u
j
du
j
du
i
_

u
k
,

u
l
_
= X
k
Y
l

i
u
j
_

j
k

i
l

j
l

i
k
_
= X
j
Y
i

i
u
j
X
i
Y
j

i
u
j
X((Y)) = X
i

u
i
_

j
Y
j
_
= X
i
Y
j

j
u
i
+
j
X
i
Y
j
u
i
Y((X)) = Y
i

u
i
_

j
X
j
_
= X
j
Y
i

j
u
i
+
j
Y
i
X
j
u
i
([X, Y]) = ([X, Y]
i

i
) =
__
Y
i
u
j
X
j

X
i
u
j
Y
j
_

i
_
=
i
X
j
Y
i
u
j

i
Y
j
X
i
u
j
4. The Lie derivative 12
Step 2: Smash them together.
X((Y)) Y((X)) ([X, Y])
= X
i
Y
j

j
u
i
+
j
X
i
Y
j
u
i
X
j
Y
i

j
u
i

j
Y
i
X
j
u
i

i
X
j
Y
i
u
j
+
i
Y
j
X
i
u
j
= X
i
Y
j

j
u
i
X
j
Y
i

j
u
i
. .
=d(X,Y)
+
j
X
i
Y
j
u
i

i
X
j
Y
i
u
j
. .
=0
+
i
Y
j
X
i
u
j

j
Y
i
X
j
u
i
. .
=0
= d(X, Y)
4.4 A problem set on Hamiltonian mechanics
4.4(1) Symplectic form
is obviously closed as = d. In order to show non-degeneracy, let
X = Q
i

q
i
+P
i

p
i
X ,= 0
Then
i
X
= i
X
dp
i
dq
i
= (i
X
dp
i
) dq
i
dp
i
_
i
X
dq
i
_
= P
i
dq
i
Q
i
dp
i
,= 0
i.e. there is no Y ,= 0 so that i
Y
i
X
= (X, Y) = 0 for all X ,= 0, so is a
non-degenerate bilinearform.
4.4(1) Symplectic volume form

n
:=
n

k=1
=
n

k=1
dp
i
k
dq
i
k
= dp
i
1
dq
i
1
dp
i
2
dq
i
2
. . . dp
i
n
dq
i
n
All summands with equal indices vanish, only distinct i
k
indices yield a term, thus
there are (n k + 1) choices for i
k
. Combine them all to get a total of
n

k=1
(n k + 1) = (n 1 + 1)(n 2 + 1) (n n + 1) = n(n 1) 1 = n!
So n! choices exist. Next, rearrange the wedge factors so the indices are in ascending
order, yielding a factor of 1. Now

n
= n! dp
1
dq
1
dp
2
dq
2
. . . dp
n
dq
n
P. 147: Derivation of Hamiltons equations The paragraph below (4.49) says
comparing these two expressions and doesnt explain it any further. This is whats
happening.
Let
] = ](q, p, t) = p
i
q
i
L(q, q, t)
4. The Lie derivative 13
Then
d] = d](q, p, t) =
]
q
i
dq
i
+
]
p
i
dp
i
+
]
t
dt
but also
d] = d(p
i
q
i
L(q, q, t)) = dp
i
q
i
+
H
H
H
p
i
d q
i

L
q
i
..
=
d
dt
L
q
i
= p
i
dq
i

Z
Z
Z
Z
L
q
i
d q
i
. .
=p
i
d q
i

L
t
dt
= p
i
dq
i
+ q
i
dp
i

L
t
dt
Comparing these two results for d] yields Hamiltons equations
q
i
=
]
p
i
p
i
=
]
q
i
L
t
=
]
t
4.4(4) Hamilton in shrt
i
X
= dp
i
dq
i
_
X
j

q
j
+X
n+j

p
j
_
= dp
i
dq
i
_
X
j

q
j
_
+ dp
i
dq
i
_
X
n+j

p
j
_
= dp
i
_
X
j

q
j
_
. .
=0
dq
i
dq
i
_
X
j

q
j
_
. .
=X
i
dp
i
+ dp
i
_
X
n+j

p
j
_
. .
=X
n+i
dq
i
dq
i
_
X
n+j

p
j
_
. .
=0
dp
i
= X
i
dp
i
+

i
X
n+i
dq
i
=
dq
i
dt
dp
i
+
dp
i
dt
dq
i
=
]
p
i
dq
i

]
q
i
dp
i
= d](q, p)
4.4(5) Lie derivative of the symplectic Poincar 2-form
L
X
= i
X
d + di
X
= i
X
d
2
d
2
] = 0
Since L is a derivation on the exterior algebra, L
X

n
vanishes as well.
4.4(8) Hmltn n shrtr
This is basically the same procedure as in 4.4(4).
X =
q
i
t

q
i
+
p
i
t

p
i
+

t
5. The Poincar Lemma and Potentials 14
0 = i
X
= i
X
(dp
i
dq
i
d] t) = (i
X
dp
i
)dq
i
dp
i
(i
X
dq
i
) (i
X
d])dt + d](i
X
dt)
. .
=1
=
p
i
t
dq
i

q
i
d
p
i
i
X
_
]
q
i
dq
i
+
]
p
i
dp
i
+
]
t
dt
_
dt +
]
q
i
dq
i
+
]
p
i
dp
i
+
]
t
dt
=
p
i
t
dq
i

q
i
d
p
i

]
q
i
q
i
t
dt
]
p
i
p
i
t
dt
]
t
dt
. .
=
dH
dt
dt=
H
t
dt
+
]
q
i
dq
i
+
]
p
i
dp
i
+
]
t
dt
=
_
p
i
t
+
]
q
i
_
dq
i
+
_

q
i
t
+
]
p
i
_
dp
i
+
_

]
t
+
]
t
_
dt
q
i
=
]
p
i
; p
i
=
]
q
i
I dont think it can still become any shorter.
4.4(9) Lie derivative of the pre-symplectic Poincar 2-form
L
X
= i
X
d + d i
X

..
=0
= i
X
d
2
= 0
5. The Poincar Lemma and Potentials
5.5 Finding potentials
5.5(1) Product of a closed and an exact form
Let be a closed k-form and be an exact form with d = . Then
= d = (1)
k
(d( ) d
..
=0
) = d
_
(1)
k

_
7. R
3
and Minkowski Space
7.2 Electromagnetism in Minkowski Space
7.2(3) Field strength 2-Form
Notation: dx
0
= dt; dx
ij
= dx
i
dx
j
. The expansion for F was taken from
9. Covariant dierentiation and Curvature 15
(14.20) combined with (3.41).
F F = (E
i
dx
i0
+B
J={1,2,3}
dx
J
) (E
k
dx
k0
+B
L={1,2,3}
dx
L
)
= E
i
E
k
X
X
X dx
i0k0
+B
J
B
L
X
X
X
dx
JL
+E
i
B
L
dx
i0L
+B
J
E
k
dx
Jk0
= 2E
i
B
J
dx
0iJ
= 2(E
1
B
23
dx
0123
+E
2
B
13
dx
0213
+E
3
B
12
dx
0312
)
= 2 (E
1
B
23
+E
2
B
31
+E
3
B
12
)
. .
=E,B
dx
0123
. .
=vol
4
= 2 E, B) vol
4
F F = (E
i
dx
i0
+B
J={1,2,3}
dx
J
) ((B)
k
dx
k0
+ (E)
L={1,2,3}
dx
L
)
= E
i
B

j
X
X
X dx
i0k0
+B
J
E

L
X
X
X
dx
JL
+E
i
E

L
dx
0iL
B
J
B

k
dx
0Jk
= B

k
B
J
dx
0kJ
E
i
E

L
dx
0iL
= B

k
B
J
dx
0kJ
E
k
E

J
dx
0kJ
= (B

k
B
J
E
k
E

J
)dx
0kJ
(permute k, J so their combination is in increasing order;
permuting the double indices of B, E cancels out the minus)
= (|B|
2
|E|
2
) vol
4
9. Covariant dierentiation and Curvature
9.3 Cartans Exterior Covariant Dierential
9.3(1) Basis expansion of the curvature form

i
j
= d
i
j
+
i
r

r
j
= d
_

i
j
du

_
+
_

i
kr
du
k
_

r
j
du

_
=
_

i
j
+
i
kr

r
j
_
. .
=: (
k
)
du
k
du

. .
=: du
k
=
1
2
_
(
k
)du
k
+ (
k
)du
k
_
(In the second summand, commute the wedge product,
afterwards rename k )
=
1
2
_
(
k
)du
k
(
k
)du
k
_
=
1
2
_

i
j

i
kj
+
i
kr

r
j

i
r

r
kj
_
. .
=R
i
jk
du
k
du

=
1
2
R
i
jk
du
k
du

9.3(2) Covariant derivative of the identity form

dr =
_
e
i

i
_
= e
i

_
d
i
+
i
j

j
_
. .
=
i
= e
i

i
9. Covariant dierentiation and Curvature 16
Remark: The reason for calling e
i

i
the identity form is because
e
i

i
(v) = e
i

i
(v
j
e
j
) = e
i
v
j

i
(e
j
)
. .
=
i
j
= e
i
v
i
= v
9.4 Change of Basis and Gauge Transformations
9.4(1) Transformation of the curvature form
For readability, let

P := P
1
.

= d

= d(

PP +

PdP)
+ (

PP +

PdP) (

PP +

PdP)
= d(

PP) + d(

PdP)
+

PP

PP +

PP

PdP +

PdP

PP +

PdP

PdP
= d

P P +

PdP

P dP + d

P dP +

Pd
2
P
+

PP

PP +

PP

PdP +

PdP

PP +

PdP

PdP
(Use 0 = d1 = d(

PP) = d

PP +

PdP d

P =

PdP

P;
Also, the matrices commute with the wedge product, i.e. A B = AB )
=

PdP

PP +

PdP

P dP

PdP

PdP
+

P P +

P dP +

PdP

PP +

PdP

PdP
=

PdP +

P P
=

P(d + )P
=

PP
And this dear children is why indices should be left away. (Yes, its the same
15. Lie groups 17
exercise.)

i
j
= d
i
j
+
i
k

k
j
= d(

P
i
l

l
m
P
m
j
+

P
i
l
dP
l
j
)
+ (

P
i
l

l
m
P
m
k
+

P
i
l
dP
l
k
) (

P
k
n

n
o
P
o
j
+

P
k
n
dP
n
j
)
= d(

P
i
l

l
m
P
m
j
) + d(

P
i
l
dP
l
j
)
+

P
i
l

l
m
P
m
k


P
k
n

n
o
P
o
j
+

P
i
l

l
m
P
m
k


P
k
n
dP
n
j
+

P
i
l
dP
l
k


P
k
n

n
o
P
o
j
+

P
i
l
dP
l
k


P
k
n
dP
n
j
= d

P
i
l

l
m
P
m
j
+

P
i
l
d
l
m
P
m
j


P
i
l

l
m
dP
m
j
+ d

P
i
l
dP
l
j
+

P
i
l
d
2
P
l
j
+

P
i
l

l
m
P
m
k


P
k
n

n
o
P
o
j
+

P
i
l

l
m
P
m
k


P
k
n
dP
n
j
+

P
i
l
dP
l
k


P
k
n

n
o
P
o
j
+

P
i
l
dP
l
k


P
k
n
dP
n
j
(Use 0 = d
i
j
= d(

P
i
k
P
k
j
) = d

P
i
k
P
k
j
+

P
i
k
dP
k
j
d

P
i
j
=

P
i
k
dP
k
l

P
l
j
;
Also, the matrices commute with the wedge product, i.e. A
i
k
B
k
j
= A
i
k
B
k
j
)
=

P
i
r
dP
r
s


P
s
l

l
m
P
m
j
+

P
i
l
d
l
m
P
m
j


P
i
l

l
m
dP
m
j


P
i
r
dP
r
s


P
s
l
dP
l
j
+

P
i
l

l
m

m
o
P
o
j
+

P
i
l

l
m
dP
m
j
+

P
i
l
dP
l
m


P
m
n

n
o
P
o
j
+

P
i
l
dP
l
k


P
k
n
dP
n
j
=

P
i
l
d
l
m
P
m
j
+

P
i
l

l
m

m
n
P
n
j
=

P
i
l
(d
l
m
+
l
n

n
m
)P
m
j
=

P
i
l

l
m
P
m
j
15. Lie groups
15.2 One-parameter subgroups
15.2(1) Generator of rotations
e
J
=

k=0

k
J
k
k!
=

k=0

2k
J
2k
(2k)!
+

k=0

2k+1
J
2k+1
(2k + 1)!
=

k=0

2k
(J
2
)
k
(2k)!
+

k=0

2k+1
J(J
2
)
k
(2k + 1)!
= I

k=0

2k
(1)
k
(2k)!
+J

k=0

2k+1
(1)
k
(2k + 1)!
= I cos () +J sin ()
15.2(2) Generator of A(1)
X =
_
a b
0 0
_
X
2
=
_
a b
0 0
__
a b
0 0
_
=
_
aa ab
0 0
_
= a
_
a b
0 0
_
= aX
X
n
=
_
I n = 0
a
n1
X n > 0
15. Lie groups 18
e
tX
=

k=0
1
k!
t
k
X
k
= I +

k=1
1
k!
t
k
a
k1
X = I +
1
a
X

k=1
1
k!
t
k
a
k
= I +
1
a
X
_

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