The Geometry of Physics

Problem Solutions
David Luposchainsky
30. 10. 2010
These are my solutions to problems given in Theodore Frankels book The Geometry of Physics (second edition). As I could not find 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 it1 .

Conventions
If not mentioned differently, use the following conventions:
P
Use Einstein summation. Sometimes, Ill typeset a
for clarification, 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 ({gij }|), s := sign (det ({gij }))

1 e-mail:

stupid underscore name at gmx dot net

Contents

Contents
Manifolds, Tensors and Exterior Forms
2. Tensors and Exterior Forms . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4(2)(i) Contraction invariant under base transformation . .
2.4(2)(ii) Non-invariant contraction . . . . . . . . . . . . . .
2.4(3)(i) Transformation behavior of a contraction . . . . . .
2.4(3)(ii) Tensor? . . . . . . . . . . . . . . . . . . . . . . . . .
2.4(3)(iii) Tensor? second attempt . . . . . . . . . . . . . .
2.5 The Gramann or Exterior Algebra . . . . . . . . . . . . . . . . .
2.5(1) Basis expansion of a form . . . . . . . . . . . . . . . .
2.5(2) Components of 1 2 . . . . . . . . . . . . . . . . . .
2.6 Exterior Differentiation . . . . . . . . . . . . . . . . . . . . . . . .
2.6(1) Differential of a 3-Form in R4 . . . . . . . . . . . . . .
2.7 Pull-Backs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7(1) Proof of homomorphism . . . . . . . . . . . . . . . . .
2.7(2) Pull-back onto a surface . . . . . . . . . . . . . . . . .
2.10 Interior Products and Vector Analysis . . . . . . . . . . . . . . .
2.10(2) Components of the interior product . . . . . . . . . .
2.10(4) Vector analysis in R3 . . . . . . . . . . . . . . . . . .
2.10(5) Basis expansion of the cross product . . . . . . . . . .
3. Integration of Differential Forms . . . . . . . . . . . . . . . . . . . . . . .
3.1 Integration over a Parameterized Subset . . . . . . . . . . . . . . .
3.1(3)(i) Higher-dimensional cross product . . . . . . . . . . .
3.3 Stokes Theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3(1) ... in R3 . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3(2) ... in R4 . . . . . . . . . . . . . . . . . . . . . . . . . .
4. The Lie derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 The Lie Derivative of a Vector Field . . . . . . . . . . . . . . . . .
4.1(1) Coordinate expression for [X, Y] . . . . . . . . . . . . .
4.2 The Lie Derivative of a Form . . . . . . . . . . . . . . . . . . . . .
4.2(1) Coordinate expression for LX 1 . . . . . . . . . . . . . .
4.2(2) Compositions of derivations and antiderivations . . . . .
4.2(3) i[X,Y] = LX iY iY LX . . . . . . . . . . . . . . . . .
4.2(3) Fugly proof of d(X, Y) = X((Y))Y((X))([X, Y])
4.4 A problem set on Hamiltonian mechanics . . . . . . . . . . . . . .
4.4(1) Symplectic form . . . . . . . . . . . . . . . . . . . . . . .
4.4(1) Symplectic volume form . . . . . . . . . . . . . . . . . .
P. 147: Derivation of Hamiltons equations . . . . . . . . . . .
4.4(4) Hamilton in shrt . . . . . . . . . . . . . . . . . . . . . .
4.4(5) Lie derivative of the symplectic Poincar 2-form . . . . .
4.4(8) Hmltn n shrtr . . . . . . . . . . . . . . . . . . . . . . . .
4.4(9) Lie derivative of the pre-symplectic Poincar 2-form . . .
5. The Poincar Lemma and Potentials . . . . . . . . . . . . . . . . . . . .
5.5 Finding potentials . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5(1) Product of a closed and an exact form . . . . . . . . . .

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Contents

3
7. R3 and Minkowski Space . . . . . . . . . . . . . . . . . .
7.2 Electromagnetism in Minkowski Space . . . . . . .
7.2(3) Field strength 2-Form . . . . . . . . . .
9. Covariant differentiation and Curvature . . . . . . . . . .
9.3 Cartans Exterior Covariant Differential . . . . . .
9.3(1) Basis expansion of the curvature form .
9.3(2) Covariant derivative of the identity form
9.4 Change of Basis and Gauge Transformations . . .
9.4(1) Transformation of the curvature form . .
15. Lie groups . . . . . . . . . . . . . . . . . . . . . . . . .
15.2 One-parameter subgroups . . . . . . . . . . . . .
15.2(1) Generator of rotations . . . . . . . . . .
15.2(2) Generator of A(1) . . . . . . . . . . . .

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Manifolds, Tensors and Exterior Forms

Manifolds, Tensors and Exterior Forms

2. Tensors and Exterior Forms
2.4 Tensors
2.4(2)(i)
A0ij

Contraction invariant under base transformation


 0i
k


x
x0i xk
0
0i
j x
A dxj , k = Aj j
dx

=
= A(dx , i ) = A
,
k
j x0i
xj
x0i
x
|
{z
}
| {z }
xk
xj

=jk

=Aj k

This is the transformation law of a scalar.

2.4(2)(ii)

Non-invariant contraction
 X
X
X
X  xj
xk
xj xk
0
0
0
Aii =
A( i , i ) =
A

=
A( j , k )
j
k
x0i
x0i
x0i x0i | {z }
i
i
i
i
=Ajk

X xj xk
Ajk 6= Aii
=
x0i x0i
i
P
Since the differential quotients do not cancel out, the value of i Aii 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

0 0i
gji
v =

xk
xk x`
x0i m
xk x` x0i
m
g
v
=
gk` v `
g
v
=
k`
k`
x0j x0i
xm
x0j |x0i{zxm}
x0j
`
=m

Thus, gji v i transforms like a vector.

2.4(3)(ii)

Tensor?
 0i 

x k
2 x0i x` k x0i v k
2 x0i x` k x0i v k x`
j0 v 0i =
v
=
v +
=
v +
0j
k
`
k
0j
k
0j
x
x
x x x
x x
x` xk x0j
xk |{z}
x` x0j
=` v k

2 0i

0i

x x k x x
v + 0j
vk
` xk x0j
k `
x
x
x
|
{z
}
6=0

Although the second term is the correct tensor transformation law, the first term
prevents j v i from forming a tensor.

2. Tensors and Exterior Forms

2.4(3)(iii) Tensor? second attempt

Using the result of (ii), one gets
x` x0i
2 x0j x` k x` x0j
2 x0i x` k
v +
` v k
v
` v k
`
k
0j
0j
k
x x x
x x
x` xk x0i
x0i xk
 2 0i
  `

x x` k
2 x0j x` k
x x0i
x` x0j
k
k
=
v
v +
` v
` v
x` xk x0j
x` xk x0i
x0j xk
x0i xk


x` x0i
` v k k v `
6= 0 +
0j
k
x x

j0 v 0i i0 v 0j =

2.5 The Gramann or Exterior Algebra

2.5(1)

Basis expansion of a form

J
aJ dxJ ( K ) = aJ dxJ ( K ) = aJ K
= aK = ( K )

Since this is true for all K , = aJ dxJ .

2.5(2)

Components of 1 2
(1 2 )i<j<k =

lmn
ijk
l mn

l,m<n

All summands where ijk is not a permutation of lmn vanish, so there are 6 possible
permutations left:

i
j
k

(A)
=
=
=

l
m
n

i
j
k

(B)
=
=
=

m
n
l

i
j
k

(C)
=
=
=

n
l
m

i
j
k

(D)
=
=
=

l
n
m

i
j
k

(E)
=
=
=

n
m
l

i
j
k

(F)
=
=
=

m
l
n

Of these 6, (C), (D) and (E) contradict i < j < k (given by the problem) with respect to m < n (from the definition of the wedge product), leaving only 3 summands.
Thus,
X
ijk
kij
jik
lmn
(1 2 )i<j<k =
ijk
l mn = ijk
i jk + ijk
k ij + ijk
j ik
|{z}
|{z}
|{z}
|{z}
l,m<n
(A)+1

= i jk + j ki + k ij .

(B)+1

(F )1

ki

2. Tensors and Exterior Forms

2.6 Exterior Differentiation

Differential of a 3-Form in R4
X
3 = J dxJ =
ijk dxi dxj dxk

2.6(1)

i<j<k
1

= 123 dx dx2 dx3 + 124 dx1 dx2 dx4

+ 134 dx1 dx3 dx4 + 234 dx2 dx3 dx4
d 3 = d123 dx1 dx2 dx3 + d124 dx1 dx2 dx4
+ d134 dx1 dx3 dx4 + d234 dx2 dx3 dx4
124
123
dxi dx1 dx2 dx3 +
dxi dx1 dx2 dx4
=
i
x
xi
234
134
dxi dx1 dx3 dx4 +
dxi dx2 dx3 dx4
+
i
x
xi
123
124
=
dx4 dx1 dx2 dx3 +
dx3 dx1 dx2 dx4
x4
x3
134
234
+
dx2 dx1 dx3 dx4 +
dx1 dx2 dx3 dx4
x2
x1
(123 )
124
=
dx1 dx2 dx3 dx4 +
dx1 dx2 dx3 dx4
x4
x3
(134 )
234
+
dx1 dx2 dx3 dx4 +
dx1 dx2 dx3 dx4
2
x
x1
rename components: 234 1 , 134 2 , 124 3 , 123 4


2
3
4
1
+
+
+
=
dx1 dx2 dx3 dx4
x1
x2
x3
x4
In cartesian coordinates, this says something like d(B dV) = div (B) dH (H: Hyperspace volume).
2.7 Pull-Backs
2.7(1) Proof of homomorphism
Notation: Let (F vI ) = (F vi1 , F vi2 , . . .) .
X
F ( ) (vI ) = ( ) (F vI ) =
IJK (F vJ ) (F vK ) = (F vJ ) (F vK )
J,K

= (F (vJ )) (F (vK ))

F ( ) = (F ) (F )

vI (= vJK )

2. Tensors and Exterior Forms

2.7(2) Pull-back onto a surface

Let (u, v) = (y 1 , y 2 ).
2 = 12 dx1 dx2 + 13 dx1 dx3 + 23 dx2 dx3
x1 i x2 j
x1 i x3 j
x2 i x3 j
dy
dy
dy
dy
dy j dy

13
23
y i
y j
y i
y j
y i
y
 1
2
1
2
x
x
x
x

1 
dy
1 dy 1 + 1 dy 1 2 dy 2
= 12
1
y
y
y
y


2
x1 2 x2 1 x1 2 x

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

 1
3
1
x
x
x3 2
x
1 
1
1

+ 13
dy

dy
+
dy

dy
1
y
y 1
y 1
y 2


x1 2 x3 1 x1 2 x
3 2

dy

dy
+
dy

dy
+
2
y 2
y 1
y
y 2

 2
 x2
x
x3
3
1 x

+ 23
dy
1 dy 1 + 1 dy 1 2 dy 2

1

y
y
y
y


2
3
3
2
x
x
x

2
1
2 x
2

+
dy

dy
+
dy

dy
2
y 2
y 1
y
y 2


 1 2



x x
x1 x2
x1 x3
x1 x3
= 12

13
y 1 y 2
y 2 y 1
y 1 y 2
y 2 y 1

 2 3
x2 x3
x x
+ 23
2 1
dy 1 dy 2
1
2
y y
y y

i = 12

If one now defines, by renaming the components of again (23 1 , 13 = 31

2 , 12 3 ), b = (1 , 2 , 3 ), the last term can be identified as b n dy 1 dy 2 , and
one gets the desired expression
i = b n du dv .
2.10 Interior Products and Vector Analysis
2.10(2) Components of the interior product
Let = J dxJ . In general we have the expansion


iv = ivj j ( k , L ) dxk dxL = v j ( j , L ) dxL = v j jL dxL
For a single component this yields


L
(iv )K = v j jL dxL ( K ) = v j jL dxL ( K ) = v j jL K
= v j jK
2.10(4)

Vector analysis in R3
grad(f )

grad (f g) d(f 0 g 0 ) = df g + f dg =

grad(g)

z}|{
z}|{
(df ) g + f (dg)

f grad (g) + g grad (f )

grad(f )

div (f B) d(f 2 ) =

z}|{
df 2 + f d 2 f div (B) + hgrad (f ) , Bi
|
{z
}
|{z}
grad(f )B

div(B)

3. Integration of Differential Forms

2.10(5)

Basis expansion of the cross product

v B iv 2
= iv iB vol3
= v k B l i k i l vol3
= v k B l vol3 ( l , k , m )dxm

= g v k B l klm dxm

If youre wondering how the identification stuff 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 definition of the cross product in
3.1(3)(i).

3. Integration of Differential Forms

3.1 Integration over a Parameterized Subset
3.1(3)(i)

Higher-dimensional cross product

Ai (A1 Ai An1 ) := voln (Ai , A1 , . . . , Ai , . . . An1 ) = 0

3.3 Stokes Theorem
3.3(1)

... in R3

p=2
1 = w1 dx1 + w2 dx2 + w3 dx3




w2
w1
w3
w3
2
3
+
+
dx

dx
+
dx1 dx3
d 1 =
x2
x3
x1
x3


w1
w2
+
dx1 dx2
+
x1
x2
This corresponds to the classical Stokes Theorem
Z
Z
rot (W) dA =
Wds
A

p=3
2 = w12 dx1 dx2 + w13 dx1 dx3 + w23 dx2 dx3


w23
w31
w12
2
d =
+
+
dx1 dx2 dx3
x1
x2
x3
This corresponds to Gaus Law
Z
Z
div (W) dV =
V

WdA

3. Integration of Differential Forms

3.3(2)

... in R4

p=2
1 = w1 dx1 + w2 dx2 + w3 dx3 + w4 dx4




w2
w1
w3
w1
1
2

dx

dx
+

dx1 dx3
d 1 =
x2
x1
x3
x1




w1
w4
w2
w3
1
4
+

dx

dx
+

dx2 dx3
x4
x1
x3
x2




w2
w4
w3
w4
2
4
+

dx

dx
+

dx3 dx4
x4
x2
x4
x3
It could be said to be some analogon to the classical Stokes Theorem in R4
Z
Z
curl (W) dA =
Wds
A

p=3
2 = w12 dx1 dx2 + w13 dx1 dx3 + w14 dx1 dx4
+ w23 dx2 dx3 + w24 dx2 dx4 + w34 dx3 dx4


w12
w13
w23
d 2 =

+
dx1 dx2 dx3
x3
x2
x1


w14
w24
w12

+
dx1 dx2 dx4
+
x4
x2
x1


w14
w34
w13

+
+
dx1 dx3 dx4
x4
x3
x1


w24
w34
w23

+
dx2 dx3 dx4
+
x4
x3
x2
The classical analogon is of obviously
Z
Z
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
Z
Z
div (W) dH =
WdV
H

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]





j
j
i
Y

Y
X
ui
uj
uj
ui
2 
i
2
Y j

i 
j 
j X
i 
j 
X
= Xi i
+
Y

Y
X




i
i
j
uj ui
uj uj
u u
 u u
j
j
X

Y
= Xi i Y i
u
ui uj

[X, Y] = X(Y) Y(X) = X i

4.2 The Lie Derivative of a Form

4.2(1) Coordinate expression for LX 1
LX 1 = iX d + diX = iX di dui + diX i dui = iX di dui + di dui (X)
i j
i j i
X i
du dui +
du X + i j duj
j
j
u
u
u

i j i
i
X i j
i
i
j
j
i
du

+
=
i
du
du
i
du
du
X
+

du
X
X
i
uj | {z }
uj
uj
| {z } uj

= iX

=X j

=X i

i j i j j i j j i
X j i
X du i X du +
X du +j
du
j
i
u
ui
| u
{z u
}
=0


=

Xj

i
X
+
j dui
uj
ui

4.2(2) Compositions of derivations and antiderivations

(A A)(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)
= (A A) + (1)p (A A)

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 AB + BA + (1)deg(A) A B
{z
}
|
=1

+ (1)p B A + (1)p (1)p BA

|
{z
}
=1

(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] = LX iY iY LX
As stated in the corresponding chapter, its enough to verify the formula for functions
and differentials of functions.
Functions:
i[X,Y] f = 0
LX iY f iY LX f = 0
|{z} | {z }
=0

=0

Differentials:
i[X,Y] df = df ([X, Y])
= [X, Y](f )
dd f iY diX df
LX iY df iY LX df = iX diY df + d iX iY df iY iX |{z}
| {z }
=0

=0

= iX dY(f ) iY 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.





j i
j i
k l i
j
i
k l i
d(X, Y) = X Y
du

du
,

=
X
Y

l
k
l
uj
uk ul
uj k
i
i
= X j Y i j X iY j j
u
u

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


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

Y
([X, Y]) = ([X, Y]i i ) =
i
i
i
uj
uj
uj
uj

4. The Lie derivative

12

Step 2: Smash them together.

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

Y
X

Y
X
j
j
= X i Y j i X j Y i i +j X i i i X j j +i Y j j j Y i
u {z
u } |
u {z
u } |
u {z
ui}
|
= X iY j

=0

=d(X,Y)

=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 = Qi

+ Pi
q i
pi

X 6= 0
Then


iX = iX dpi dq i = (iX dpi ) dq i dpi iX dq i = Pi dq i Qi dpi 6= 0
i.e. there is no Y 6= 0 so that iY iX = (X, Y) = 0 for all X 6= 0, so is a
non-degenerate bilinearform.
4.4(1) Symplectic volume form
n :=

n
^
k=1

n
^

dpik dq ik = dpi1 dq i1 dpi2 dq i2 . . . dpin dq in

k=1

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

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

k=1

So n! choices exist. Next, rearrange the wedge factors so the indices are in ascending
order, yielding a factor of 1. Now
n = n! dp1 dq 1 dp2 dq 2 . . . dpn 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
H = H(q, p, t) = pi qi L(q, q,
t)

4. The Lie derivative

13

Then
dH = dH(q, p, t) =

H i H
H
dq +
dpi +
dt
q i
pi
t

but also
dH = d(pi qi L(q, q,
t)) = dpi qi + H
pi dH
qi
H

L
q i
|{z}

d
= dt

= pi dq i + qi dpi

L
q i

=p i

Z
L i L
dq i Z
dq
dt
qi Z
t
Z
| {z }
=pi dqi

L
dt
t

Comparing these two results for dH yields Hamiltons equations

qi =

H
pi

pi =

H
q i

L
H
=
t
t

4.4(4) Hamilton in shrt



n+j
i
j
+X
iX = dpi dq X
q j
pj




i
j
i
n+j
= dpi dq X
+ dpi dq X
q j
pj








i
i
j
i
i
n+j
n+j
j
dq dq X
dq dq X
dpi
dpi + dpi X
= dpi X
qj
q j
pj
pj
{z
}
|
{z
}
{z
}
{z
}
|
|
|
=X i

=0

= X i dpi +

=X n+i

X n+i dq i =

dq
dpi i
H i H
dpi +
dq =
dq i dpi = dH(q, p)
dt
dt
pi
q

4.4(5) Lie derivative of the symplectic Poincar 2-form

LX = iX d + diX = iX d2 d2 H = 0
Since L is a derivation on the exterior algebra, LX n vanishes as well.
4.4(8) Hmltn n shrtr
This is basically the same procedure as in 4.4(4).
X=

=0

q i
pi

+
+
i
t q
t pi
t

5. The Poincar Lemma and Potentials

14

0 = iX = iX (dpi dq i dH t) = (iX dpi )dq i dpi (iX dq i ) (iX dH)dt + dH (iX dt)
| {z }
=1


H
pi i q
H i H
H
H
H
dq
+
=
dq
pi iX
dp
+
dt
dt + i dq i +
dpi +
dt
i
t
d
q i
pi
t
q
pi
t
pi i q i
H
H q i
H pi
H
H
H
=
dq
pi i
dt
dt
dt + i dq i +
dpi +
dt
t
d
q t
pi t
t
q
pi
t
{z
}
|
H
= dH
dt dt= t dt

q i
H
H
pi
+ i dq i +
+
=
t
q
t
pi
H
H
qi =
; pi = i
pi
q


H H
dpi +
+
t
t


dt

I dont think it can still become any shorter.

4.4(9) Lie derivative of the pre-symplectic Poincar 2-form
LX = iX d + d iX = iX d2 = 0
|{z}
=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( ) |{z}
d ) = d (1)k
=0

7. R3 and Minkowski Space

7.2 Electromagnetism in Minkowski Space
7.2(3) Field strength 2-Form
Notation: dx0 = dt; dxij = dxi dxj . The expansion for F was taken from

9. Covariant differentiation and Curvature

15

(14.20) combined with (3.41).

F F = (Ei dxi0 + BJ={1,2,3} dxJ ) (Ek dxk0 + BL={1,2,3} dxL )
X i0k0
JL
X + E B dxi0L + B E dxJk0
X+ B B X
= E E dxX
dxX
i

= 2Ei BJ dx

0iJ

= 2(E1 B23 dx0123 + E2 B13 dx0213 + E3 B12 dx0312 )

0123
= 2 (E1 B23 + E2 B31 + E3 B12 ) dx
|
{z
} | {z }
=vol4

=hE,Bi

= 2 hE, Bi vol4
F F = (Ei dxi0 + BJ={1,2,3} dxJ ) ((B)k dxk0 + (E)L={1,2,3} dxL )
X i0k0
JL
X + Ei E dx0iL BJ B dx0Jk
X + BJ E X
= Ei B dxX
dxX
=
=

Bk BJ dx0kJ
Bk BJ dx0kJ

= (Bk BJ

Ei EL dx0iL
Ek EJ dx0kJ
Ek EJ )dx0kJ

(permute k, J so their combination is in increasing order;

permuting the double indices of B, E cancels out the minus)
= (kBk2 kEk2 ) vol4

9. Covariant differentiation and Curvature

9.3 Cartans Exterior Covariant Differential
9.3(1) Basis expansion of the curvature form






ij = d ij + ir rj = d i`j du` + ikr duk r`j du`




1
du}` =
(k` )duk` + (k` )duk`
= k i`j + ikr r`j |duk {z
2
{z
}
|
=: (k` )

=: duk`

(In the second summand, commute the wedge product,

afterwards rename k `)


1
=
(k` )duk` (`k )duk`
2


1
=
k i`j ` ikj + ikr r`j i`r rkj duk du`
2|
{z
}
=Rijk`

1 i
R duk du`
2 jk`

9.3(2) Covariant derivative of the identity form

dr = ei i = ei d i + ij j = ei i
|
{z
}
= i

9. Covariant differentiation and Curvature

16

Remark: The reason for calling ei i the identity form is because

ei i (v) = ei i (v j ej ) = ei v j i (ej ) = ei v i = v
| {z }
=ji

9.4 Change of Basis and Gauge Transformations

9.4(1) Transformation of the curvature form
For readability, let P := P 1 .
0 = d 0 + 0 0
= d(P P + P dP )
+ (P P + P dP ) (P P + P dP )
= d(P P ) + d(P dP )
+ P P P P + P P P dP + P dP P P + P dP P dP
2
= dP P + P dP P dP + dP dP + 
P d
P
+ P P P P + P P P dP + P dP P P + P dP P dP
(Use 0 = d1 = d(P P ) = dP P + P dP dP = P dP P ;
Also, the matrices commute with the wedge product, i.e. A B = AB )
= P dP P P + P dP P dP P dP P dP
+ P P + P dP + P dP P P + P dP P dP
= P dP + P P
= P (d + )P
= P P
And this dear children is why indices should be left away. (Yes, its the same

15. Lie groups

17

exercise.)
0i j = d 0i j + 0i k 0k 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

2 
l

P i
= dP i l l m P m j + P i l d l m P m j P i l l m dP m j + dP i l dP l j + 
ld P 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 ) = dP i k P k j + P i k dP k j dP i j = P i k dP k l P l j ;
Also, the matrices commute with the wedge product, i.e. Ai k B k j = Ai 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
eJ =

X
k J k
k=0

=I

k=0

k!

X
2k J 2k
k=0

(2k)!

X
2k+1 J 2k+1
k=0

(2k + 1)!

X
2k (J 2 )k
k=0

(2k)!

X
2k+1 J(J 2 )k
k=0

X 2k+1 (1)k
2k (1)k
+J
= I cos () + J sin ()
(2k)!
(2k + 1)!
k=0

15.2(2) Generator of A(1)



a b
X=
0 0


 
a b
a b
aa
2
X =
=
0 0
0 0
0
(
I
n=0
Xn =
an1 X n > 0




ab
a b
=a
= aX
0
0 0

(2k + 1)!

15. Lie groups

18

X
X
1 X 1 k k
1 k k
1 k k1
t X =I+
t a
t a
X=I+ X
k!
k!
a
k!
k=1
k=0
k=1
! 


 

X
1
1 k k t0 a0
1 0
1
1 ab
=I+ X
t a
=
eta
+
0 1
0 0
0
a
k!
0!
k=0
 ta b ta b 
e
ae a
=
0
0

etX =

b
a