# General Relativity

## Table of Contents

## Notation

**IFs**is*inertial frames*

## Newtonian spacetime

### Notation

### Stuff

Reformulation of Poisson laws:

in terms of the **Newtonian spacetime** curvature as

where is the 00-component of the Ricci tensor.

Then **Newtonian spacetime** is tuple where

- is torsion free

### Absolute space

**Absolute space** at time is defined

and so (Newtonian) spacetime can be written as the disjoint union of the absolute spaces:

One way to visualize absolute time is as follows:

If absolute time *didn't* "flow uniformly", then we would allow something like the following, where we can have time standing completely still:

## Motivation

### Newton's laws

- Motion: and where
- is the
*inertial mass*

- is the
Gravity: where , which satisfies the (gravitational) Poisson equation

where

- is Newton's gravitational constant
- is density
- is the mass of the "source"

Experiment:

*inertial*mass is equivalent to*gravitational*mass, i.e.which is called the

*weak equivalence principle*, thusTherefore we get the fact that locally, gravity is uniform acceleration

Non-uniform gives rise to

*tidal forces*. Follows from the*deviation equation*

### Special relativity

Spacetime where

*points are events*, with inertial framesand we use the

*Minkowski metric*(a

*quadratic form*), which is invariant in all IFs. Notice- Motion is described by wordlines
- Free motion follow straight lines

- IFs related by
*Poincare group*(which leaves invariant:- Rotations
- Translations
- Lorentz boosts (rotation between space and time)

- Maxwell's eqns have PoincarĂ© symmetry, but NOT Galilean symmetry (which is what Newton's gravity follows)

### General relativity

- Laws of physics take same form in any coordinate system, i.e. invariant under general coord changes
- Will obtain by formuating laws with
*tensor fields*

- Will obtain by formuating laws with
- There exists lcoal IF with
*no gravity*, where laws are as in special relativity (called the /strong equivalence principle)- Spacetime is (differentiable) manifold with Lorentzian metric

## Postulates

**Spacetime** is a four-dimensional Lorentzian manifold .

More specifically, **(relativistic) spacetime** is defined by the tuple where

- is torsion-free
- is a Lorentzian metric
- is a time-orientation

Let be a Lorentzian manifold.

Then a **time-orientation** is given by a smooth vector field that

- do
*not*vanish anywhere, i.e. for all

Here denotes an oriented atlas.

- Comparing with Newtonian spacetime we have gone from a "time" to a metric and time-orientation .
- Reason for introducing a metric now is that we want some way of enforcing the fact that a particle cannot move faster than the speed of light
If we instead considered the metric then we observe that

so if , we are basically saying that the flow along has a "speed" which less than the speed of light (as we want).

- Observe then that (with our convention), that is "illegal"

- The above produces the well-known light-cone, where if we make a choice of time-orientation to enforce the fact that a particle cannot move into the
*past*

## Connections and curvature

### Notation

- denotes a basis of a vector
*fields*on - denotes the dual basis of covector
*fields*on $M4 - In GR, the term
*connection*will often be used to refer to the tensor ; this is because of how it relates to the connection 1-form Covariant derivative as a (1, 1)-tensor field

with components

Components of connection

Torsion is denoted or in components and is given by

and in components

### Covariant derivative

Let be a basis of vector fields on . The components of the connection in a basis is defined by

Letting

the covariant derivative can be written

and so

where is the dual basis of . In a particular coordinate basis

Under a basis change and , we have

whre the basis change coefficients .

In particular, under a change of coordinate basis, this becomes

We use to denote fixed indices, and for contractible ones.

If we then let and we obtain our proof (up to commutation between functions, so we're fine).

Moreover, in a specific chart and changed basis we simply have

Substituting back into the above, we obtain our result.

Let be a connection on a smooth manifold .

A vector field is said to be **parallely transported** along a curve with tangent vector field if

The parallel transport condition in components reads

Along an integral curve we have , and so we can write

A **geodesic** is an integral curve of a vector field that satisfies

In other words, a **geodesic vector field** is parallely transported wrt. *itself*.

In a coordinate basis, the integral curves satisfy , and so the **geodesic** eqation is

Let open for which is a *bijection*.

Normal coordinates at , of a point , are given by where are the components of

in a basis .

In normal coordinates at

Consider the geodesic through and .

In normal coords. the geodesic takes the form

Inserting this into the geodesic equation and evaluating at , we deduce that

Hence

Since this is true for all in an open set , we have our proof.

### Torsion and curvature

#### Torsion

Let be a smooth manifold with a connection .

The **torsion** is a tensor defined by

where are smooth vector fields.

One can easily check that this is indeed a tensor.

Componentwise,

Geodesics are determined by the symmetric part of the connection components , thus the torsion does not affect the geodesics!

Let be a manifold with a covariant derivative .

For any function ,

We prove this by working in a basis .

Since , the covariant derivative of the covector is

Therefore, antisymmetrising, we get

Since this is a relation between tensors, it follows that it must hold in any arbitrary basis.

#### Curvature

The **Riemann curvature** of a connection is a defined by

where are smooth vector fields.

One can verify that this is indeed a tensor by checking that it's linear in and .

The **Riemann tensor** is the (1, 3) tensor defined by , where the ordering of the arguments is standard notation. The components are then defined

The component-wise expression for the Riemann tensor can be seen as follows:

where we first observe that

from which the Riemann tensor immediately follows.

First, observe that for a torsionless connection , we have

Now

Since this holds for all , we conclude our proof.

Riemann tensor has an important geometrical interpretation.

It can be shown that is the change in upon parallel transport around a small quadrilateral whose opposite sides are integral curves of vector fields and . Hence, if parallel transport is *locally* path-independent.

The torsion and curvature of a connection vanish if and only if for any , there exists a chart such that and

In short,

Suppose is a torsionless connection. Then we have

We will be working in normal coordinates.

Recall that in normal coordinates at , we have .

Hence, for a torsionless connection, this reduces to .

Therefore, the Riemann tensor in normal coordinates at is simply

Due to anti-symmetry in the last two indices,

Substituting in the above identity (since we are in normal coordinates),

since .

We have

So we need the last term to equal . To see this we write the expressions out

as we wanted. Substituting into the expression above,

as claimed.

which follows directly from

### Levi-Civita connection

Let be a psuedo-Riemannian manifold. There exist a unique connection with vanishing torsion and satisfying .

This choice of connection is often called the **Levi-Civita connection**.

### Curvature of Levi-Civita connection

Let be the Levi-Civita connection. We define the (0, 4)-tensor

We work in normal coordinates at , so

and so

(at ) differentiate wrt. and evaluate at :

at .

AND MORE.

for Levi-Civita connection.

using Proposition proposition:4.61-lectures.

The **Ricci scalar** of is

The **Einstein tensor**

Riemann tensor of vanishes if and only if for every , there exists a chart containing such that

Recall if torsion vanishes, then Riemann tensor vanishes if and only if there exists charts where . Then

in such charts.

This implies that is constant in chart, if we choose basis at to be orthonormal, which implies

Theorem thm:Riemann-tensor-vanish-iff-Euclidean-or-Minkowski-metric shows us that the Riemann tensor sort of measure the deviation from Euclidean or Minkowski metric, locally.

## Special relativity

**Spacetime** is just a Lorentizan manifold (Minkowski spacetime),

where

and are the *inertial coordinates*, i.e. .

**Free motion**: are timelike geodesics, ligthrays null geodesics

Physics: described by tensor fields on which obey evolution equations.

### Examples

#### Scalar field

Let be a scalar field, then

which is just the wave-equation:

#### Energy-momentum tensor

satisfies

which is conservation of energy / momentum.

#### Maxwell's theory of E. M.

Electromagnetic field strength which obeys the

*Maxwell's equations*:The corresponding energy-momentum tensor

Any matter distribution is described by energy-momentum tensor

#### Fluids

- Described by vector field , and typically
*normalized*such that **Perfect fluids**:where

- is the
*energy density* - is the
*pressure*

- is the
- Then is the relativitic eqns. of fluid dynamics

## General relativity

**Main idea:** there exist local freely flowing frames with *no* gravity.

This is achieved by the following postulates.

Postulates:

- Space-time is a 4D Lorentzian manifold
- Free particles follow timelike / null-geodesics wrt. Levi-Civita of
Energy-momentum distribution of matter fields described by symmetric tensor field which is

*conserved*The curvature of is related to energy-momentum tensor of matter by the Einstein's equations:

where is the Newton gravitational constant.

- Note that might also depend on , so we cannot simply fix and solve

Laws of physics governed by:

- General covariance: laws indep. of basis / coord system
- Equivalence principle: in any local inertial frame (normal coordinate system) laws reduce to the laws in Minkowski spacetime (Minkowski space)

Do not fix laws *uniquely*! But suggests simple rule (called *minimal coupling*):

given any equation in (Minkowski space), we replace

to get laws on

*curved*spacetime- Rules ensure general covariance as they output tensor equations.
Local intertial frames are normal coords at , i.e.

### Examples

#### Wave equation

Applying these rules to wave-equation of S.R. we get

In local inertial frame, observe that we have

where the RHS is the wave-equation in .

Postulate 3: we have

and by wave-equation

#### Maxwell's equations

Applying these rules to Maxwell's equations in spacetime, we get

Postulate 3: we have

combined with Maxwell's equations we get

#### Fluids

- Described by vector field , and typically
*normalized*such that **Perfect fluids**:where

- is the
*energy density* - is the
*pressure*

- is the

Then

Motion of fluid given by

Observe that if the pressure vanish, i.e. , then we're left with

which is the equation describing geodesic, fluid moves as "free particles".

### Einstein's equations

- Motivation:
- Newtonian
- Graviational field described by scalar potential
Equation of motion

where in cartesian coordinates

Relative acceleration of nearby particles ("tildal force") governed by

*deviation equation*where is the separation vector of the particles

- GR:
Relative acceleration of two nearby particles following timelike geodesics is given by the

*geodesic deviation equation*where is the tangent to the geodesics and is now the

*deviation vector*.

Comparison suggests

- Newtonian