http://www.physics.hku.hk/phys3033/
July 2013
Preface
We only have time to cover a tiny part of general relativity in this course.
Students need to read other books. Here are a few comments.
N. Christensen and T. Moore, Teaching General Relativity to Undergrad-
uates, Physics Today, 65, 6, 41 (June 2012). This is an article in Physics
Today, comparing the approaches of various books. A must read.
R.M. Wald, General Relativity, The University of Chicago Press (1984).
This is a good one, but not an introductory one.
B. ONeill, Semi-Riemannian Geometry, Academic Press (1983). A math-
ematics book. I love it. In this course, I will follow Wald and ONeill a lot.
S. Weinberg, Gravitation and Cosmology: Principles and Applications of
the General Theory of Relativity, Wiley, New York (1972). Clear explanation
in physics, but not in mathematics. I could understand this only after I have
read ONeill.
C.W. Misner, K.S. Thorne, J.A. Wheeler, Gravitation, W.H. Freeman,
San Francisco (1973). A very important book, but I hate it. The mathemat-
ics is not rigorous to my taste. Too many boxes and too heavy.
B.F. Schutz, A First Course in General Relativity, Cambridge University
Press, New York (1985; 2nd ed. 2009). I have not read it. I heard that it is
good. If you find other books too old, the second edition is a younger choice.
J.B. Hartle, Gravity: An Introduction to Einsteins General Relativity,
Addison-Wesley, San Francisco (2003). Also, I have not read it. Some stu-
dents comment that this is a popular science book with equations, one cannot
actually learn general relativity by reading it.
I will employ the mathematics approach. Students might find that half
(or more than half) of my course is mathematics. I am not apologetic because
this is the essence of general relativity. (Imagine learning electromagnetism
without vector calculus.) To learn well, some of the prerequisites are lin-
ear algebra, calculus of several variables, special relativity, just to name a
few. (Passing my course in special relativity do NOT prepare yourself to
understand this one. Dont worry, passing this course demands much less.)
Finally, two tips from Christensen and Moore, students should ask them-
selves what they can measure and it is important to ... draw the distinction
between global coordinates and real physical measurements performed in a
local laboratory.
i
Contents
Preface i
1 Linear Algebra 1
1.1 Vector Spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Inner Product . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Tensor Product . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 Differentiable Manifolds 24
3.1 An Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.2 Smooth Manifolds . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3 Vector Fields and One Forms . . . . . . . . . . . . . . . . . . 30
3.4 Tensor Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.5 Metric Tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4 Curvature 36
4.1 Covariant Derivative . . . . . . . . . . . . . . . . . . . . . . . 36
4.2 Parallel Transport . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.3 Levi-Civita Connection . . . . . . . . . . . . . . . . . . . . . . 41
4.4 Curvature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5 General Relativity 51
5.1 Equivalence Principle . . . . . . . . . . . . . . . . . . . . . . . 51
5.2 Proper Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.3 Newtonian Limit . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.4 Time Dilation . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.5 Einsteins Field Equation . . . . . . . . . . . . . . . . . . . . . 57
ii
CONTENTS iii
6 Schwarzschild Solution 61
6.1 Metric in Standard Form . . . . . . . . . . . . . . . . . . . . . 61
6.2 Christoffel Symbols . . . . . . . . . . . . . . . . . . . . . . . . 62
6.3 Ricci Tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.4 The Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.5 Black Holes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Index 71
Chapter 1
Linear Algebra
One of the central ideas of general relativity is that coordinates are for human
beings. Nature does not need them. We have to learn how to describe things
without using coordinates and what happens if we change the coordinate
systems. We start with vector spaces.
1. u, v, w V, u + (v + w) = (u + v) + w;
2. u, v V, u + v = v + u;
5. a R, u, v V, a(u + v) = au + av;
6. a, b R, v V, (a + b)u = au + bu;
7. a, b R, v V, a(bu) = (ab)u;
8. For 1 R, v V, 1v = v.
Example 1.2. The first non-trivial example is the plane R2 RR. This is
the set of all ordered pairs of two real numbers, almost always interpreted as
the x- and y-coordinates of a point on the plane relative to some pre-chosen
coordinate system.
1
CHAPTER 1. LINEAR ALGEBRA 2
where, for example, av1 in the right hand side is just multiplication of two
real numbers. Vector addition is
a1 v 1 + a2 v 2 + + a m v m = 0 (1.6)
is only a1 = a2 = = am = 0.
Example 1.5. In R2 , (1, 0) and (0, 1) are linearly independent. A single
vector (1, 0) is linearly independent. (1, 0), (0, 1) and (1, 1) are not linearly
independent. (1, 0) and (2, 0) are not linearly independent. A single zero
vector (0, 0) is not linearly independent.
CHAPTER 1. LINEAR ALGEBRA 3
Theorem 1.7. All bases have the same number of the vectors. This is the
dimension of the vector space.
Example 1.8. The dimension of Rn is n. For R2 , {(1, 0), (0, 1)} is a basis,
{(1, 0), (1, 1)} is also a basis and {(2, 0), (0, 2)} is yet another basis.
The dimension of the vector space of solutions in Example 1.3 is 2.
The space of all continuous functions from real numbers to real numbers
f : R R is also a vector space. (Check this.) Its dimension is infinite.
bv + b1 v1 + + bn vn = 0 . (1.8)
for some real numbers L . (We choose to use one subscript and one super-
script for a reason.) v also form a basis
n
X
u = K v (1.10)
=1
CHAPTER 1. LINEAR ALGEBRA 4
It is just the entries of the identity matrix. Back to Eq. (1.11), the v are
linear independent. Their coefficients must be zero
n
X
= L K . (1.13)
=1
Pn
Similarly, we have = =1 K L , which means, as matrices, (L ) and
(K ) are inverse to each other, and their determinants are non-zero.
What is the relation between components? For a vector v V , it has
different components relative to different basis,
n
X n
X
v= a v = b u . (1.14)
=1 =1
This is how the components of the same vector transform relative to two
bases. Physicists would say that if something transforms like this, then it
is a vector. I hate this very vague statement.
Definition 1.11. A function of a set is just an assignment of a number to
every element of the set. A linear function of a vector space f : V R
must also satisfy
f (av + bu) = af (v) + bf (u) (1.17)
for any vectors u and v and any numbers a and b.
CHAPTER 1. LINEAR ALGEBRA 5
which means the symbol af denotes a linear function that its value at v
equals to a times the value of f at v, similarly for f + g.
Definition 1.12. With the definitions given in the last paragraph, given a
vector space V , the space of all linear functions also form a vector space, the
dual space V .
P
If v is a basis, then for any vector v = a v , we have
X X
f (v) = f ( a v ) = a f (v ) . (1.20)
v (v ) = . (1.21)
f (v ) , (1.22)
we have
X X
f (v) = f ( a v ) = a f (v )
X
= a (1.23)
X
= v (v)
X
= v (v) , (1.24)
which is X
f= v . (1.25)
Hence, v is a basis of V , and are the components of f . For finite
dimensional vector space, dual space has the same dimension.
In terms of another dual basis u , let
X
f= u . (1.26)
CHAPTER 1. LINEAR ALGEBRA 6
We have
X X X
= f (u ) = v (u ) = v ( K v )
X X
= K v (v ) = K
, ,
X
= K . (1.27)
This is how the components of linear function transform. One should com-
pare with Eq. (1.16).
Another way to say the same thing is, by Eq. (1.26) and Eq. (1.27),
X
f = u
X
= (K u ) . (1.28)
= (v , v ) . (1.45)
v(u) = (v, u)
X X
= ( a v , b v )
!
X
= a b
!
X
= a v u. (1.49)
,
We have X
v = a v . (1.50)
,
f
X
v , (1.51)
,
1. (v + v ) w = v w + v w,
2. v (w + w ) = v w + v w ,
Example 1.25. In quantum mechanics, if there are three possible states for
particle A and four states for particle B, how many states are there if we
consider them together? The answer is twelve. The state space for A is a
three dimensional vector space, while state space for B is a four dimensional.
The state space of A and B together is the tensor product of the two.
If both particles have two states, |1i and 2i, the total space has dimension
four. The normalized state
1
(|1i |1i + |2i |2i) (1.55)
2
cannot be written simply as |ai |bi. It is called an entangled state, very
important in quantum information and quantum computing.
Theorem 1.32. Under a different basis, the transformation rule for tensors
is given by
...
X
T ... = L L K K T ... ... , (1.69)
T 6= T . (1.70)
(v , v ) , (1.71)
we have
X
(v, u) = ( a v , b v )
X
= a b (v , v )
X
= a b . (1.72)
2.1 Conventions
c=1 (2.1)
(If you ask what is c, you should not take this course.) It is barely acceptable
that c does still not equal to one after students learn special relativity. It
is not acceptable to not put c = 1 in general relativity. By doing this,
c is the natural conversion factor between time and length. Hence, 1s =
299792458m. The mass of electron is about 511keV. Leisurely, I walk with a
speed 0.000000003. The duration of this lecture is in the order of the distance
between the Sun and Saturn.
We sum over repeated indices if one is upper index and one is lower index.
This is just the contraction of tensor introduced in Example 1.34.
X
T ...... ...... = T ...... ...... . (2.2)
We also say that the signature is ( + ++). Different books adopt different
conventions. We also put t = x0 and
1 if = = 0
= 1 if = = 1, 2, 3 . (2.5)
0 otherwise
16
CHAPTER 2. REVIEW OF SPECIAL RELATIVITY 17
The whole theory of special relativity is living in the space R4 with the inner
product given by Eq. (2.4). This is the Minkowski space. We usually do
not specify a fixed basis/frame.
Hence,
= . (2.8)
Take the determinant of both sides and notice that det( ) = 1, we have
det( )2 = 1
det( ) = 1 . (2.9)
1 = 0 0 0 0 + 1 0 1 0 + 2 0 2 0 + 3 0 3 0 (2.10)
0 0 0 0 = 1 + 1 0 1 0 + 2 0 2 0 + 3 0 3 0
1
0 1 or 0 0 1 .
0
(2.11)
vi = i 0 / . (2.13)
CHAPTER 2. REVIEW OF SPECIAL RELATIVITY 18
Because of Eq. (2.10), v 2 = v12 + v22 + v32 . A pure boost with velocity
(v1 , v2 , v3 ) is Lorentz transformation
0
0 = (2.14)
0 i
i = = vi
0 (2.15)
i 1
j = ij + vi vj . (2.16)
v2
By direct calculation, we have
= R (2.17)
=
0 0 1
det( ) = 1 , (2.19)
We have the second line because the two events are at the same location, and
the expression in the second line is Lorentz invariant, hence the third line.
Lorentz contraction or length contraction means that the length of
a moving object will be shorter along the direction of motion.
1
dg(x)
Z
= f (x) (y) dy
dx
= f (x0 ) g (x0 )1 . (2.27)
If g (x0 ) < 0, we have to switch the limits and get f (x0 ) g (x0 )1 .
Hence,
(x x0 )
(g(x)) = . (2.28)
|g (x0 )|
If g(x) = 0 has multiple roots, we have to sum them up. For multi-
dimensional function and multi-dimensional integral, we have a similar
formula. We only need the case that y i = Ai j xj where (Ai j ) is a invertible
matrix. Denote n (y i ) = (y 1 )(y 2 ) (y n ),
Z
f (x1 , . . . , xn ) n (y i ) dx1 dxn
1 n
n i d(x x )
Z
1 n
dy 1 dy n
= f (x , . . . , x ) (y ) 1 n
d(y y )
f (0, . . . , 0)
= . (2.29)
| det(Ai j )|
As a result,
n (y i ) = | det(Ai j )1 | n (xi ) . (2.30)
Suppose we have chosen a frame and some charged particle is moving
with coordinates x = f ( ). The trajectory is called the world line of the
particle and is a parameter on the world line. Its speed must be less than
or equal to 1
2 2 3 2
df 1 /d df 2 /d
df /d
+ + 1
df 0 /d df 0 /d df 0 /d
1 2 2 2 3 2 0 2
df df df df
+ +
d d d d
df df
0. (2.31)
d d
Its motion will induce a current. Let its charge be e. Define
df ( )
Z
J (x) d e 4 (x f ( ))
. (2.32)
d
With the above discussion of function, we see that J (x) is a four vector.
To understand its physical meaning, let us assume for simplicity that it is
moving in constant velocity. Then, we could choose the parameter = x0
CHAPTER 2. REVIEW OF SPECIAL RELATIVITY 21
= e 3 (xi v i x0 X i )v i (2.33)
Z
J0 = d e 4 (x f ( )) = e 3 (xi v i x0 X i ) . (2.34)
1. If the particles are interacting only during collisions that are strictly
localized in space, it conserves. See Section 2.8 of Weinberg.
Differentiable Manifolds
How can spacetime be curved? How do particles move in the curved space-
time? The necessary mathematical tool to describe all these is the theory of
differentiable manifolds. This is fundamental to general relativity and many
branches of mathematics.
3.1 An Example
Back to Newtonian concepts, space is described as R3 and the trajectory of a
particle is a curve x : R R3 or a mapping from time to space. The velocity
is a vector dx/dt. This space is flat.
What we want to discuss is the surface of a sphere, S
x2 + y 2 + z 2 = R 2 . (3.1)
Note that the pair of equations on the right are only valid for northern
hemisphere without the north pole, while the pair on the right are even more
troublesome because we have to worry about the points that x = 0, the
various branches of arcsine and arctangent, etc. However, in their respective
domains of definition, they are infinitely differentiable.
24
CHAPTER 3. DIFFERENTIABLE MANIFOLDS 25
It can be proved that no single coordinate system can cover the whole
surface. Hence, the worries about the domains of definition of coordinate
systems and transformation of coordinates are unavoidable.
We need functions on the surface S, for example, the temperature at each
point of S. Mathematical functions could be quite weird. I cannot resist to
quote the function f : S R
1 if x is a rational number
f (x, y, z) = . (3.3)
0 if x is a irrational number
The function itself does not depend on any coordinate system. But to con-
cretely write it down, we need some coordinate systems. I write the function
as f (x, y, z), but in fact, it depends only on two coordinates, for example,
(x, y) for points in the northern hemisphere. We could also express it as
function of (, ) by Eq. (3.2). Physicists consider only functions that when
expressed in some coordinates, they are infinitely differentiable.
A particle moving on the surface S is given by a function f : (a, b) S,
where (a, b) = {a < t < b} is the time interval of concern. Once again, this
is independent of coordinate system. If at some particular time, it is in the
domain of definition of some coordinate system, we could express it as, e.g.,
(x(t), y(t)) or ((t), (t)).
In terms of coordinates, the velocity is
dx(t) dy(t)
, (3.4)
dt dt
or
d(t) d(t)
, . (3.5)
dt dt
We even have
dx(t) x d(t) x d(t)
= + (3.6)
dt dt dt
dy(t) y d(t) y d(t)
= + (3.7)
dt dt dt
where the partial differentiations are calculated by Eq. (3.2), and similarly
equations for d(t)/dt and d(t)/dt.
But wait! What do we mean by velocity here? In some sense, velocity
should have a z-component. However, S is two dimensional, there are only
two directions for the particle to move. (x, y) and (, ) are only two coor-
dinate systems out of infinitely many. Are they special? We even have not
talked about how to measure length of a curve on the surface... We have
enough motivations to start the following sections.
CHAPTER 3. DIFFERENTIABLE MANIFOLDS 26
n 1
R n
R
1
U V M
v = a v . (3.9)
CHAPTER 3. DIFFERENTIABLE MANIFOLDS 27
Define : V Rn by
(v) = (a1 , . . . , an ) . (3.10)
Then, is a coordinate system on V and we can cover V by one coordinate
system. If we choose another basis, the coordinate transformation is given by
the multiplication of a matrix, which is smooth. Hence, V is a n dimensional
smooth manifold. Note that there are other non-linear coordinate systems
on V , for example, the polar coordinate system.
= h(r)
Z r
dh
= h(0) + dt
0 dt
Z r
g 1
t(x x1p , . . . , xn xnp ) + (x1p , . . . , xnp ) dt (x xp )
= h(0) +
0 x
g(xp , . . . , xnp ) + g (x xp ) ,
1
(3.22)
where g is the function
Z r
g 1 1 n n 1 n
g =
t(x x p , . . . , x x p ) + (x p , . . . , x p ) dt . (3.23)
0 x
Put r = 1, we have
g x1 , . . . , xn = g x1p , . . . , xnp + g (r = 1)(x xp ) .
(3.24)
Setting g = f 1 the coordinate expression of f , the above equation be-
comes
f (q) = f (p) + g (r = 1)(x (q) xp ) (3.25)
where g (r = 1) also depends on q via (x1 , . . . , xn ). x (q) are functions on
M as the coordinates of q.
Eq. (3.20) gives us
v(f ) = g (r = 1, q = p)v(x ) , (3.26)
where
g (r = 1, q = p)
Z 1
g 1
t(xp x1p , . . . , xnp xnp ) + (x1p , . . . , xnp ) dt
=
x
Z0 1
g 1
xp , . . . , xnp dt
=
0 x
g 1
xp , . . . , xnp
=
x
f 1 1 n
= x p , . . . , x p
x
= ( |p )(f ) . (3.27)
CHAPTER 3. DIFFERENTIABLE MANIFOLDS 30
dx ((t))
(t) = |(t) . (3.30)
dt
dx ((t))/dt are the components of the velocity vector relative to the coor-
dinate system. See Eq. (3.4) and Eq. (3.5).
= ( ) dx (3.34)
and
df = f dx . (3.35)
Proof. (You have seen Eq. (3.35) since kindergarten. Just by the face value,
it must be true. But now, all symbols have different meanings.)
The coordinates x are functions on M , its differential is
We apply the above equation to the vector field , defined in Eq. (3.15), we
have
x
(dx )( ) = (x ) = = . (3.37)
x
The first equality is definition, the second is the second line of Eq. (3.15),
and the third is just ordinary partial differentiation.
To prove Eq. (3.34), note that is an one-form, is a vector field and
( ) is a function. The right hand side of the equation is the multiplication
of a function and the differential of the coordinate (and sum over ). The
action of the right hand side on the vector field is
(( ) dx ) ( ) = ( ) (dx ) ( ) = ( ) = ( ) . (3.38)
CHAPTER 3. DIFFERENTIABLE MANIFOLDS 32
Since span the tangent space at each point, we have proved Eq. (3.34).
In particular, for the differential df ,
(df ) = f , (3.39)
T X (M ) X (M ) X (M ) X (M ) T (k, l) , (3.40)
T : X (M ) X (M ) X (M ) X (M ) R , (3.41)
T (. . . , f + g , . . .) = f T (. . . , , . . .) + gT (. . . , , . . .) , (3.42)
T (. . . , f V + gV , . . .) = f T (. . . , V, . . .) + f T (. . . , V , . . .) . (3.43)
x
vp (x ) = vp (x ) , (3.44)
x p
x
p ( ) = p ( ) . (3.45)
x p
x
(x ) = . (3.46)
x
CHAPTER 3. DIFFERENTIABLE MANIFOLDS 33
Hence,
x
vp (x ) .
vp (x ) = (vp (x ) )(x ) = vp (x ) (x ) p =
(3.47)
x p
Similarly,
x
( x )p
p ( ) = (p ( ) dx )( ) = p ( ) = p ( ) . (3.48)
x p
Students should be able to find out the transformation rules for general
tensor fields.
g = g dx dx . (3.52)
g g = , (3.53)
g g = , (3.54)
V = g V , (3.55)
V = g V . (3.56)
In the third and fourth lines, we use superscript and subscript to distinguish
vectors from one-forms.
Example 3.23. Recall that in Section 3.1, we have discussed the surface
of a sphere. The following is a physicists way to find out the natural
metric on it.
R3 , as a vector space, has a natural metric
g = dx dx + dy dy + dz dz . (3.57)
To find the components of the metric for the polar coordinates, notice that
x = R sin cos
dx = R cos cos d R sin sin d (3.58)
y = R sin sin
dy = R cos sin d + R sin cos d (3.59)
z = R cos
dz = R sin d . (3.60)
CHAPTER 3. DIFFERENTIABLE MANIFOLDS 35
g = R2 (3.62)
g = R2 sin2 (3.63)
g = g = 0 . (3.64)
and
R2 y 2
gxx = (3.67)
R 2 x2 y 2
R 2 x2
gyy = (3.68)
R 2 x2 y 2
xy
gxy = gyx = . (3.69)
R x2 y 2
2
Chapter 4
Curvature
The covariant derivative of a tensor field has one more one-form component,
which could act on a vector field to produce back a tensor field of same
type. This vector field is the direction of the directional derivative, usually
written as V . It must satisfy the following five conditions
V (aT + bU ) = aV T + bV U , (4.2)
f V T = f V T . (4.3)
36
CHAPTER 4. CURVATURE 37
The second line is just the fact that T is a tensor field of type (k, l+1)
and we evaluate it at the vector fields V . Note that it is not true that
V (f T ) = f V T for a function f F(M ).
V (T U ) = V T U + T V U . (4.4)
T = T dx . (4.6)
T = S ; dx dx dx (4.7)
T = R ; dx dx . (4.8)
S ; = R ; . (4.9)
V f = V (f ) . (4.10)
(V W W V )f = V (W (f )) W (V (f )) . (4.11)
(Some gravity theories do not require this condition. They are called
torsion gravity. We do not discuss those.)
. (4.12)
This just simplifies the notation of the covariant derivative along the vector
tangent to the coordinate lines. Here comes the Christoffel symbols, ,
. (4.13)
V W ; V W = V W + W .
(4.14)
Proof.
V W = V W
= V (W )
= V (( W ) + W ( ))
V ( W ) + W ( ) .
= (4.15)
The second line is by Eq. (4.3), the third is Leibnitz rule and the fourth line
is due to Eq. (4.10) and Eq. (4.13) because W are just functions. We rewrite
Eq. (4.14) as
W ; = W + W . (4.16)
Theorem 4.4.
= . (4.17)
Proof. By Eq. (4.11), we have
(V W W V )f = V (W (f )) W (V (f ))
(V W ; W V ; ) f
= V (W f )) W (V f ))
V W ; W V ; = V W W V
V W W V = 0
V W
= 0. (4.18)
V (W ) = (V W ) + W (V ) (4.20)
V (W ) = (V W ) + W (V )
V (W ) = (V W ; ) + W V ;
V (( W ) + W ) = (V ( W + W )) + W V ;
V W = V W + W V ;
V W = V W + W V ;
; = . (4.21)
Theorem 4.6.
(Note that in this equation, the Condition 3 is just adding and subtracting
the same Christoffel symbol terms.)
x 2 x x x
= +
x x x x x
x x x 2 x
= +
x x x x x
x x x x 2 x
= + . (4.23)
x x x x x x
Because of the second term in the right, Christoffel symbols are not compo-
nents of a tensor.
For any tensor of type (1, 2) which is symmetric in the lower indices
S = S , (4.24)
+ S
, (4.25)
Definition 4.8. A vector v(( )) given at each point of the curve is said to
be parallel transported as one moves along the curve if
v = 0 . (4.26)
T = 0 . (4.27)
dx (( )) v
+ v = 0
d x
dv (( ))
+ v = 0 . (4.28)
d
This is an ordinary differential equation. Initial value theorem guarantees
the solution. A very important fact is that parallel transport depends on the
curve. If one parallel transports a vector along a closed curve back to the
starting point, it is general true that the vector will be rotated. We will
spend a lot of time on this in Section 4.4.
CHAPTER 4. CURVATURE 41
We also need
g g
= (K K g ) (L L g )
= K K g L L g + K K g g L L
+K K g g L L . (4.41)
Finally,
g ( g + g g )
= K L L g ( g + g g )
+K L + K L . (4.42)
= 0 (4.47)
= = cot (4.48)
= sin cos . (4.49)
Let (t) = ((t), (t)) be a curve, and v(t) = v (t) + v (t) be a vector
field on it. The equation of parallel transport, Eq. (4.28), is
dv
sin cos (t)v = 0 , (4.50)
dt
dv
+ cot ( (t)v + (t)v ) = 0 . (4.51)
dt
Hence, the curve is a geodesic if
2
d2 d
2
sin cos = 0, (4.52)
dt dt
d2 d d
2
+ 2 cot = 0. (4.53)
dt dt dt
By inspection, we can verify that the lines of longitude, = constant, = kt,
are geodesics. Also, the equator, = /2, = kt, is geodesic. However,
the lines of latitude, = constant, are not geodesics.
CHAPTER 4. CURVATURE 44
4.4 Curvature
Let be a covariant derivative (not necessarily Levi-Civita), be an one-
form and f a function. Then,
( ) (f )
= (f ) (f )
= ( f + f ) ( f + f )
= f + f + f + f
f f f f
= f f
= f ( ) . (4.54)
( ) ( dx ) R dx . (4.55)
R is a tensor field of type (1, 3), called the Riemann curvature ten-
sor. (Different book has different convention. Be careful when comparing
equations.) This equation can also be written as
;; ;; = R . (4.56)
( ) (V ) = R V . (4.57)
0 = ( ( V )) ( ( V ))
= ( ) (V )
= ( ) ( V )
= ( V + V ) ( V + V )
= V + V + V + V
V V V V
= ( ) V + ( V V )
= R V + ( ) V . (4.58)
In the third line, it is understood that we will contract the two factors after
covariant differentiation.
CHAPTER 4. CURVATURE 45
The operator itself is not a tensor because, for example, its action on one-
forms and vectors are not the same, but tensor outer product should have
the same action, see Example 1.35.
One could easily generalize the action of to tensors (one
+R for each lower index and one R for each upper index).
We find the expression of the curvature tensor in terms of Christoffel
symbols by Eq. (4.56).
;;
= ;
= ( )
=
+ + . (4.59)
If we reverse and and subtract, the first, fourth and fifth terms cancel
with themselves, the third and sixth cancel each other.
R = + +
R = + . (4.60)
This is the required equation. Brave students should check that it transforms
as a type (1, 3) tensor by Eq. (4.23).
The curvature tensor tells us how a vector is rotated after parallel trans-
ported around a closed loop. We will prove this in steps. First, let v be
an arbitrary vector field, and w0 v (x , x ) be the vector at the point
(x , x ). If we parallel transport w0 along the coordinate line from x to
x + to get a vector field w on the line, what will be w(x + , x ) different
from v (x + , x )? To simplify notations, in the following paragraphs, we
will use subscript 0 and 1 to denote that the quantity is evaluated at (x , x )
and (x + , x ) respectively, usually after differentiation.
2
w1 = v1 v1 + v 1 (4.61)
2
where the right hand side is evaluate at (x + , x ) and we do not sum over
.
Proof. The vector field w is parallel, it satisfies
w = w . (4.62)
CHAPTER 4. CURVATURE 46
2
v0 = v1
v1
+ v1 ,
2
0 = 1 1 . (4.64)
2
w1 = v1 v1 + v1
2
1 1 (v1 v1 )
1 1
2 1 v1 + 2 1 1 v1
2 2
= v1 v1 + 1 v1
2
v1 + 21 v1 + 2 1 v1 1 v1 + 1 1 v1
+
2
= v1 v1
2
v1 + 21 v1 + 1 v1 + 1 1 v1 .
+ (4.65)
2
To simplify the last line, note that since is some fixed direction, v is a
vector field, not a tensor of type (1, 1). We have
v = v + v
= v + v + v + v .
(4.66)
2
w1 = v1 v1 + v1
2
2
= 1 + v1 . (4.67)
2
(x,x + ) (x+ ,x + )
w4 w3 w2
(x,x ) w1
w0 (x + ,x )
Figure 4.1: Parallel transport of a vector.
4. Bianchi identity:
R ; + R ; + R ; = 0 (4.73)
Proof. To prove Property 2, stare at Eq. (4.60) long enough, or notice that
Christoffel symbols are symmetric, Theorem 4.4. Pay attention to the first
two terms in Eq. (4.60), the lower indices of the cyclic sum of curvature
tensors are
() () + () () + () () = 0 . (4.74)
() () + () () + () () = 0 . (4.75)
To prove Property 3,
0 = g
0 = ( ) g
0 = R g + R g . (4.76)
Cyclic permute the indices , and in these two equations and sum up,
R ; + R ; + R ; + R ; + R ; + R ;
= R ; + R ; + R ; + R ; + R ; + R ;
R ; + R ; + R ; = R ; + R ; + R ;
R ; + R ; + R ; = 0 . (4.79)
R R . (4.80)
R R g . (4.81)
CHAPTER 4. CURVATURE 49
Theorem 4.18.
R = R . (4.82)
Proof. By Eq. (4.72), we have
g R = g R
R = R
R = 0 . (4.83)
R + R + R = 0
R R = 0 (4.84)
Theorem 4.20.
G g G = 0 . (4.86)
Proof. By Bianchi identity,
R ; + R ; + R ; = 0
R ; + R ; + R ; = 0
R; R ; + R ; = 0
g (R; R; + g R; ) = 0
R; g R; g g R; = 0
R; g R; g R; = 0
g ((Rg ); R; R; ) = 0. (4.87)
Example 4.21. We calculate the curvature tensor, Ricci tensor and scalar
curvature of the surface of a sphere. There are sixteen components for the
curvature tensor, but many of them are zero because of Property 1 and
Property 3 of Theorem 4.16. The only non-zero terms are
R = R = R = R . (4.88)
CHAPTER 4. CURVATURE 50
R
= g R
= g +
R2 sin2 cot cot2
=
2 2 1 2
= R sin cot
sin2
= R2 sin2 . (4.89)
R = R + R = 1 (4.90)
R = R = R + R = 0 (4.91)
R = R + R = g R = sin2 . (4.92)
g R + g R
2
= . (4.93)
R2
Is this what you expected? (I am sorry that both the scalar curvature and
the radius of the sphere are denoted by R.)
Chapter 5
General Relativity
Einstein revolutionized the concept of space and time with special relativity.
One of the main results is that nothing can travel faster than the speed of
light. The theory of gravity available at that time was Newtonian gravity,
which is not compatible with special relativity because the effect of gravity
in that theory transmits instantaneously. Einstein gave us another theory
of gravity, the general relativity. He revolutionized the concept of spacetime
again.
51
CHAPTER 5. GENERAL RELATIVITY 52
If point B is far away from any gravitational field, g00 (B) = 1, while
point A is at the surface of the Earth, g00 (A) = (1 2 GM R
), the ratio of
proper times is
B GM
=1+ >1. (5.25)
A R
Clocks (and everything) in a gravitational field run slower. We have time
dilation.
CHAPTER 5. GENERAL RELATIVITY 57
This effect has been verified by experiments. The ratio 109 , although
small, is much larger than the precision of atomic clocks. However, instead
of an atomic clock at infinity for reference, scientists compare the rate of
atomic clocks on the surface of the Earth and atomic clocks in orbit, which
are free falling, hence equivalent to clocks in no gravitational attraction.
The next candidate in the line is the stress tensor, mentioned in Sec-
tion 2.6. Einstein did find an equation relate the stress tensor of matter and
geometry of spacetime. We will take the stress tensor as the appropriate
quantity to describe matter. Here, we would just like to mention that the
perfect fluid is defined by
T = u u + P (g + u u ) . (5.27)
where u = g u is the velocity four vector of the fluid at the point. is the
density and P is pressure, both measured at the rest frame of the fluid at the
point. We do not dive into the details of this equation. The brunch of par-
ticles in Section 2.6 describe something astronomers called dust, something
that P = 0.
Following Section 4.3 of Wald (but beware of some sign errors in (3.3.18),
(4.3.18) and (4.3.19)), we consider the tidal acceleration in non-uniform grav-
itational field. In Newtonian gravity, the equation of motion is
d2 x
= grad . (5.28)
dt2
The difference in accelerations at two different points is
If initial separation of the two particles is going along the x direction with
distance , the tidal acceleration is
(5.30)
R v /t = R v v . (5.32)
R v v . (5.33)
2 = 4G , (5.34)
R v v 4G (5.35)
or
R v v 4GT v v
R 4GT . (5.36)
R00 = 00
1
= (g (0 g0 + 0 g0 g00 ))
2
1
= (g g00 )
X 2
= i i . (5.41)
i
G00 = kGT00
X
2 i i = kG
i
8G = kG
8 = k , (5.42)
and the Einsteins field equation Eq. (5.26). (I hope the sign is correct.)
Students should also consult the two derivations in Weinberg. His method
is mainly finding out all possible combinations of second derivatives of the
metric tensor, to see that only one combination is a non-trivial tensor and it
must proportional to the stress tensor.
There is another more natural derivation, the action principle. Please
read Chapter 12 of Weinberg or Appendix E of Wald. It is much more
convincing.
Einsteins field equation is a very non-linear partial differential equation.
Mathematicians classify it as a hyperbolic equation. Physicists will con-
cern about the Cauchy problem or Cauchy surface, see Chapter 8 of Wald
and Section 7.5 of Weinberg. It all means that one could choose a three
dimensional space, specify on it the initial spatial metric tensor, the mat-
ter distribution, and their velocities, then Einsteins field equation will in
principle tell their evolution. One have to solve for the metric of spacetime
and motion of material simultaneously. This requirement, in fact, put some
constraint on spacetime.
Chapter 6
Schwarzschild Solution
61
CHAPTER 6. SCHWARZSCHILD SOLUTION 62
Then,
dt = dt (r) dr (6.7)
and
p
We further define r C(r) r,
2 2
d 2 = B(r ) dt2 A(r ) dr r d2 + sin2 d2
(6.10)
for some functions B(r ) and A(r ). (Students should work out these two
functions in terms of F , G and C.) Finally, we re-label the coordinates
g tt = 1/B(r) (6.16)
g rr = 1/A(r) (6.17)
g = 1/r2 (6.18)
g = 1/(r2 sin2 ) . (6.19)
CHAPTER 6. SCHWARZSCHILD SOLUTION 63
The Christoffel symbols for the Levi-Civita connection is given by Eq. (4.36).
For our case, we have some simplification. In the following equation, we do
not have to sum over
1
= g ( g + g g ) . (6.20)
2
There are forty Christoffel symbols. Most of them are zero because the metric
tensor depends only on r and . Let calculate them. For = t,
1 tt
t = g (t gtt + t gtt ) . (6.21)
2
The only non-zero components are
B
ttr = . (6.22)
2B
Put = r,
1 rr
r = g (r grr + r grr r g ) . (6.23)
2
1 B
rtt = g rr r gtt = (6.24)
2 2A
r 1 rr
tr = g t grr = 0 (6.25)
2
rt = 0 (6.26)
rt = 0 (6.27)
1 rr A
rrr = g r grr = (6.28)
2 2A
r 1 rr
r = g grr = 0 (6.29)
2
rr = 0 (6.30)
1 r
r = g rr r g = (6.31)
2 A
r = 0 (6.32)
1 r sin2
r = g rr r g = . (6.33)
2 A
Now, for = ,
1
= g ( g + g g ) . (6.34)
2
tt = tr = t = t = rr = 0 (6.35)
1 1
r = g r g = (6.36)
2 r
CHAPTER 6. SCHWARZSCHILD SOLUTION 64
r = 0 (6.37)
= = 0 (6.38)
1
= g g = sin cos . (6.39)
2
Finally, = ,
1
=g ( g + g ) . (6.40)
2
The non-zero components are
1 1
r = g r g = (6.41)
2 r
1
= g g = cot . (6.42)
2
We group together the non-zero components in another order for easy refer-
ence.
B B
ttr = rtt = (6.43)
2B 2A
B
A 1 1
trt = rrr = r = r = (6.44)
2B 2A r r
r 1
r = r = = cot (6.45)
A r
r sin2 1
r
= = sin cos r = = cot (6.46)
A r
t = 0 (6.47)
B A 2
r = + + (6.48)
2B 2A r
= cot (6.49)
= 0 . (6.50)
B2
t t = 2ttr rtt = (6.51)
2AB
t r = 0 (6.52)
t = 0 (6.53)
t = 0 (6.54)
B2 A 2 2
r r = 2
+ 2
+ 2 (6.55)
4B 4A r
CHAPTER 6. SCHWARZSCHILD SOLUTION 65
cot
r = (6.56)
r
r = 0 (6.57)
2
= + cot2 (6.58)
A
= 0 (6.59)
2
2 sin
= 2 cos2 (6.60)
A
Now, we can calculate the Ricci tensor by Eq. (4.60)
R = + . (6.61)
Rtt = tt + rtt r t t
B2
B B B A 2
= r + + +
2A 2A 2B 2A r 2AB
2
B
AB
B AB
B
B2
= + + +
2A 2A2 4AB 4A2 rA 2AB
2
B
AB
B
B
= 2
+
2A 4A 4AB rA
B B A B B
= + + . (6.62)
2A 4A A B rA
Rtr = rt + rrt r r t = 0 . (6.63)
Rt = Rt = 0 . (6.64)
Rrr = rr r r + rr r r
A B A 2
= r r + +
2A 2B 2A r
2
A 2
A B A 2 B 2
+ + + + +
2A 2B 2A r 4B 2 4A2 r2
B2
B 2 A B A 2
= r + + + 2
2
2B r 4AB rA 4B r
2 2
B
B AB
A
B
= + + +
2B 2B 4AB rA 4B 2
2
B B A B A
= + + + . (6.65)
2B 4B A B rA
Rr = r r + r r
= r r
= 0. (6.66)
CHAPTER 6. SCHWARZSCHILD SOLUTION 66
Rr = r r + r r = 0 . (6.67)
R = +
r
r B A 2 2
= r cot + + + cot2
A A 2B 2A r A
1 rA
1 rB
rA
2 2
= + 2 + 2 2
+ cot2
A A sin 2AB 2A A A
1 r A B
= + +1 . (6.68)
A 2A A B
R = + = 0 . (6.69)
R = +
r sin2
= r (sin cos )
A
r sin2
B A 2
+ + sin cos cot
A 2B 2A r
2 sin2
+ + 2 cos2
A
sin2 rA sin2
= + 2
cos2 + sin2
A A
r sin2
B A 2
+ + sin cos cot
A 2B 2A r
2 sin2
+ + 2 cos2
A
sin2 rA sin2
= + 2
+ sin2
A A
r sin2
B A
+
A 2B 2A
2 1 r A B
= sin + +1
A 2A A B
= sin2 R . (6.70)
C B
= =0. (6.77)
r3 B rB
1 r A B
R = + +1
A 2A A B
B
= B rB +1
B
C C
= 1 + + 1
r r
= 0. (6.78)
For locations far away from the center, the gravitational field is weak. By
Eqs. (5.20) and (5.21),
2GM
g00 = 1 . (6.79)
r
It is natural to set the constant C = 2GM where M is the mass of the object
at the center. We have the celebrated Schwarzschild solution
1
2 2GM 2 2GM
dr2 r2 d2 + sin2 d2 .
d = 1 dt 1
r r
(6.80)
We define the Schwarzschild radius
2GM
rS = 2GM = . (6.81)
c2
For the Sun, the Schwarzschild solution is applicable to region outside the
Sun because inside, the stress tensor is non-zero. The Schwarzschild radius
for a solar mass object is about 3km, well within the Sun. We dont have to
worry about the coordinate singularity of the solution at r = rS .
Please read Section 8.5 of Weinberg and Section 8.6 or Section 6.3 of
Wald for deflection of light by the Sun and precession of the perihelion of
Mercury respectively. These are the classical tests of general relativity.
d2 r
r dx dx
0 = +
d2 d d
dt dt d d
0 = rtt + r
d d d d
B dt dt r d d
0 =
2A d d A d d
CHAPTER 6. SCHWARZSCHILD SOLUTION 70
r
d B
=
dt r 2r
GM
= . (6.87)
r3
Put together the two equations, we have
p r
1 2GM/r GM
=
r r3
1 2GM/r GM
2
=
r r3
3
r = 3GM = rS . (6.88)
2
Further analysis shows that the photon sphere is unstable. A slight pertur-
bation of the photon will make it go into the black hole or to infinity.
How much time does it take to free fall to the event horizon? It depends
on observers. Eq. (6.84) is regular everywhere except r = 0, we expect that
the proper time (d 2 = ds2 ) for the free falling particle is some finite value.
For photon in radial trajectory, and are fixed, and the proper time is
zero. Eq. (6.80) gives us
1
2GM 2 2GM
1 dt = 1 dr2
r r
Z t Z r
dr
dt = rS
0 r0 1 r
r 0 rS
t = r0 r + rS log . (6.89)
r rS
We see that t if r rS . It takes infinite coordinate time to reach
the event horizon. However, the coordinate time is just the proper time for
an observer at infinite far away. We conclude that an observer far away will
never see the photon reaching the event horizon. For a massive particle, its
speed is lower than speed of light, it takes even longer time than photon to
reach a location near the event horizon.
It will take infinite time, both proper and coordinate, to discuss every-
thing we know about black holes.
Index
71
INDEX 72
stress-energy Tensor, 22
tangent space, 27
tangent vector, 27
tensor, 13
tensor contraction, 14
tensor field, 32
tensor product, 11
tidal force, 52, 58
time dilation, 56
torsion free, 37
vector addition, 1
vector field, 30
vector space, 1
velocity vector, 30
world line, 20