1

ds2 = dx2 + dy 2

ds2 = dr2 + r2 d2

r = [x, y]T = [r cos , r sin ]T

T
r
x y
=
,
= [cos , sin ]T
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r r

T
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x
x
x
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y
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y
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x
x
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i
cos r sin

J = r = r1 r2 =
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T h
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1
0
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2
r1

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1
dx2 + dy 2 = [dx dy]
0

dr
[dr d]J T IJ = [dr
d

dx

1
dy

dr
d]G = dr2 + r2 d2
d
0

g00 dr2 + g22 d2

(g00 = 1, g22 = r2 )

g 00 dx2 + g 22 dy 2

(g 00 = 1, g 22 = 1)

<General Notation>
3-Dimension
rectangular : (x, y, z) xi

(i = 1, 2, 3)

curvilinear : (r, , z), (, , )...etc xj

(j = 1, 2, 3)

r = [x1 , x2 , x3 ]T = [x1 (x1 , x2 , x3 ), x2 (x1 , x2 , x3 ), x3 (x1 , x2 , x3 )]T

(Simplify)

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xi
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dx dx = Ji dxi Jj dxj = gij dxi dxj
dxi =

ds2 =
Let ij = g ij = G ,

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r

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ijk

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2
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a
>
(r, , z) = (x1 , x2 , x3 )\



6




.
r
r1
r2
r3

= [x1 , x2 , x3 ]T = [x1 cos x2 , x1 sin x2 , x3 ]T

r
=
= [cos x2 , sin x2 , 0]T
x1
r
=
= [x1 sin x2 , x1 cos x2 , 0]T
x2
r
=
= [0, 0, 1]T
x3

[gij ]

1
0

[ri rj ] = 0 (x1 )2

0
0

ds2

gij dxi dxj = d(x1 )2 + (x1 )2 d(x2 )2 + d(x3 )2

dr2 + r2 d2 + dz 2

122 = 212 = 221 = r12 r2 = x1

the other ijk = 0

122 = g 11 221 = x1
1
x1
mr = F _
 tensor


&
`


. rectangular \



221 = 212 = g 22 212 =

m
i

t


T =

m


.

dxi
dt

dxr xi
dt xr

(3)
the other ijk = 0

d2 xi
i
=F
2
dt

x
= T r x
H tensor t



d2 xi
dt2

H


A
\
"
f

H


<
s

 tensor 

d2 x i
dT
dT r xi
2 xi dxs
=
=
+ Tr r s
2
r
dt
dt
dt x
x x dt
r

d
(2)

i
t
u
2 xi
i x x
t x
=

rs
tu
xr xs
xt
xr xs

(2)

10
@

\
/{

9



dT
dt

=
=
=

i
t
u
dT r xi
dxs
i x x
r
t x

+
T

rs
tu
dt xr
xt
xr xs
dt

u s
i
i
t
r
s
dT x
x
x dx
x dx
i
tu T r r
+ T r trs t
r
dt x
x dt
x
xs dt
i
r
x
dT
i
t u
+ rts T t T s
tu T T
dt
xr
i
r
x
dT
r
t s
+ ts T T
dt
xr

dT
i
t u
+ tu T T
=
dt
i
i
dx

dT i
i
p q
Let ai t
= T
dt
t dt + pq T T =

Simplify

dx
dt

dxi
dt

d2 xi
dt2

+ ipq dx
dt

=
t

ai = ar

dxr
dt

xi
xr

dxq
dt

xi
xr
1
0

tensor

absolute p

\

rs






. rectangular \

 jk = 0 s



d2 xi
dt2

dxi
dt


.

i = F _
rectangular \
"
f
r1

xZ
l
g
O
: mx

r

\

@
/
2>

p

r`

absolute p


r





 tensor

AI

+

&#
Q

H

a
>
\
"
f1
x{
l

9

s
&

a
)
. 7

m
t

dxi
dt

dxi
i
F =J m
F =0
t dt

dxi
m
= Fi
t dt
i

l
#
"
f Fi
H contravariant components of force

+
rectangular \
"
f_
 force F
<
A
_

a>
'

 $


n


.
Matrix forme
i

[F ] = J[F i ]
Vector form
F

= F 1 r1 + F 2 r2 + F 2 r3
r1
r2
r3
= F 1 h1
+ F 2 h2
+ F 2 h3
|r1 |
|r2 |
|r3 |
= f1 r1 + f2 r2 + f3 r3

fi
Hz

]

jj
F\

ri \

basis


>

hr
(
`

M

: , ri ~


. contravariant components of
force F i
<
6

a>
'
 e


.
f i = hi F i =

ri ri F i =

gii F i

(not summed over i)

11

m
t

dxi
dt

=m

p
q
d2 xi
i dx dx
+

pq
dt2
dt dt

= Fi =

fi
hi

d
s
`

s

6
xK


s
4

rF
>

M
+
:_

r1

x~
l
&

`

F

G
a
>


K
&


.
m
m
F = GM
r s


fr = GM

. hr = 1, h = r s


r1

x~
l
&

r2 e
r 2 , f = 0 s

dr
fr
GM m
m
=
=
t dt
hr
r2

f
d
=
=0
m
t dt
h

&

h


.
122 = 212 = 221 = r
1
r

122 = r, 221 = 212 =

'
 absolute p

r`


e

.

dr
=
t dt

d
=
t dt

the other ijk = 0

(3)

the other ijk = 0

2
r + 122 2 = r +
r
r
+ 2212 r = + 2
r

r1


x~
l
&

r

6


s


a
)
.
r +
+ 2

2
r
r
r

=
= 0

GM
r2
( r2 = constant)

A

_
 tensor ~
&

\

"
f9
|


#

Q


e

.
r
2 r

p
q
dx
d x
r dx dx
m
=m
+

= Fr
pq
t dt
dt2
dt dt
gir `
Y

L


,

Let T =

dxr
dt

= vr




r
dv
m gir
+ pqi v p v q = gir F r Fi
dt

m
p q
2 gpq v v

T
v i

=
=

d
dt

T
v i
T
i

x
d T
T

dt v i
xi

=
=
=
=

m
gpq [ ip v q + v p iq ]
2
m
[ giq v q + gpi v p ] = mgiq v q
2

1
1
m(giq v q + giqp v p v q ) = m giq v q + giqp v p v q + gipq v p v q
2
2
m
gpqi v p v q
2

1
m giq v q + [ gpqi + giqp + gipq ]v p v q
2
q
m(giq v + pqi v p v q )

12

d
dt

T
v i

T
= gir F r Fi
xi


#

r>
>
\
"
f L=T U s

Lagrangian equation

d L
L

=0
dt v i
xi

H

d
dt

T
v i

T
d

=
xi
dt

U
v i

U
= Fi
xi

, Fi

7
H general force 



HX

<
#
Q
U


'

A

<
s


K



.

d U
U
Fi =

i
dt v
xi
U

'
 fi
H#

Qb
G>


+
?

\

g ri Y
L





ri

g Fi

fr
hr

fr

Fr =

d U
U
g

dt v i
xi

U
U
ri d
g

dt v i
xi

U
U
ri d
hr g

dt v i
xi
ri

(not summed over r ,summed over i)

>
 orthogonal 
s
 g ij

H/

@y
'

=s
>


d U
U
rr
fr = hr g

dt v r
xr

1 d U
U
=

hr dt v r
xr

(not summed over r)

Q
 gij


'
f


_

~
&


H

H]

j\



9

.
ds2 = dx2 + dy 2

ds2 = dr2 + r2 d2

r
.........
............
.
.
.
.
.
.
.
.
.
.

.
..

.........
..
* . I
0

y = ax + b

` = r cos( + 0 )

f
_

~
&

ry


a
>
\
"
f y = ax + b, ` = r cos( + 0 ) s

. s
d
[



r"

o

%
'
`
3


e


.

ds = 0

13
G
F
a
>
_



p
'

Let L =

p
p
ds = dr2 + r2 d2 = r 2 + r2 d
Z
Z p
ds =
r 2 + r2 d = 0

r 2 + r2 , Euler equation

'


d L
=
d r

d
r

=
2
d
r + r2

dr d
r

=
2
d dr
r + r2

\

r/r
\
Y

L





Let

r
r 2 +r 2

=R

r 2 d
r dr

r 2
r2

r
2
r + r2

L
r
r
+ r2
r

2
r + r2

r 2

r 2

r
+ r2

R2
1R2 )

R2 dR
=R
1 R2 dr


s
`


 r = ` sec( + 0 ) 



r
:
. `, 0
Hy


y y]

X
, l
#

l

_
&

\




?
/
H



.
ds

'



r

"
o
\
&

6
h
xK

f


`





H

`

7
8 general
>


#
Q

.

gij = gij (xk ) e

. 7

x k _

<
 
_
\


_

.
Z
Z q
Z r

gij dxi dxj =

ds =

L(xk , x k ; s) =

gij

q
gij x i x j =

dxi dxj
ds = 0
ds ds
=1

Euler-equation

d
ds
d

ds

d
ds

gij (xx xk

L
xk

gijk x i x j
1
= gijk x i x j

2
2

(x i x j )
gij
x k
Use

gij

L
x k

= gijk x i x j

(x i x j )
= ki x j + kj x i
x k

(x i x j )
= gij (ki x j + kj x i ) = gkj x j + gik x i
x k
d
[gkj x j + gik x i ] = gijk x i x j

ds

14
use

d
ds gkj

gkj dxi
xi ds

= gkji x i

d2 xj
ds2
d2 xi
x j x i + gik 2
ds

gkji x i x j + gkj
+gikj
2gki

d2 xi
+ (gkqp + gpkq gpqk )x p x q
ds2
use pqk
use ipq

p
q
d2 x i
i dx dx
+

=0
pq
ds2
ds ds

= gijk x i x j
= 0
1
(gpqk + gqkp + gkpq )
2
g ik pqk

(geodesic equation)

(4)


s
<
s

 gij

#
Qt

 geodesic equation


'
f


`


+
e


x

. {

9


/
r
:
r

4
"
r

/
N
B
\

#
Q


t|


9
r

(Tij )
H

0
A_
r
/
N
B


`6

f>


,

N
B
`

e

_

_
{

9

geodesic `



 s
1
x
l



[
"
O



. Tij

'
 gij \




H ~

&

`

Einstein-Hilbert filed

equation 
s




. (

G=



4

\
_

p



. tensor gij \
_

p

t


H

.)
8G
1
R g R = 4 T
2
c

(perfect fluid :T = (p + )U U pg )

Mixed form
1
8G
R R = 4 T
2
c

)
/

N
B
\

 T = 0


1
R R = 0
2

()

/
N
B
)

 d
s
`

s

6
xK


+
A @

/g
A


t^



r

/
N
B
_

&

\



<

H gij \




\

V
schwarzschild solution s

.

Einstein-Hilbert Field Equation

1
8G
R g R = 4 T
2
c

(perfect fluid :T = (p + )U U pg )

Mixed form
1
8G
R R = 4 T
2
c
T = 0, ( external)

1
R R = 0
2

spherical symmetry
ds2

g00 c2 dt2 + grr dr2 r2 (d2 + sin2 d2 )

ev(r,t) c2 dt2 e(r,t) dr2 r2 (d2 + sin2 d2 )

15
obtain
ijk = g ir jkr

Rik =

lil
lik
m l

+ lik m
lm il km
xl
xk

Rki = g ir Rrk
substation

v0
r

1
r2

0
1
e

+
2
r
r

= 0

1
r2
1
r2

1
R R = 0
2

=0

+v =0

= 0

e = ev = 1 +
constant = 2Gm
c2

constant
r

(Newton approximal)

1
2Gm
2Gm
2 2
ds = 1 2
c dt 1 2
dr2 r2 (d2 + sin2 d2 )
c r
c r
2

g = g (r, )
P0 , P = constant

2T m g P P
T
d
d

T
U

T
=0
x

P P = m2 c2
m
=
g U U
2
d2 x
dxr dxs

+ rs
=0
2
d
d d
=




r T _

&

 Einstein-Hilbert equation `



#

Q g \



.

+

' geodesic
equation

'
{

9
_


\
>






H

s

{
9



/
r_
:

l


.

%
r
i
s
]
j}
{


9


/
@
r`
:
]


X
l

M
:
H\

?
//
Ns
B

7


. 
t
}



l

_
<
 Maxwells equations _
 tensor +
A

\
I

/

L



u

. Gaussian cgs
0

A>
\
"
f


`
4



9
t


H Maxwells equations

H


A

<


.
E = 4 ,
1 B
E+
=0 ,
c t

B=0
B

field strength tensor F \



A

<
s

&




0 Ex Ey

Ex
0
Bz
F =

Ey Bz
0

Ez By Bx
A


<
s

 4-vector \


{
9




J = (c, J)

1 E
4
=
J
c t
c

Ez

By

Bx

16
4>
h_
 Maxwells equations \


A
d


+
e


.
F
4
F , = J
x
c
F, + F, + F, = 0
]
s
j
p
#

r`

covariant p


r




#
Q

 curved spacetime \

"
f
$


n

H~

&

`

%


3
H

.

4
J
c
+ F; = 0

F ; =
F; + F;