$2.00 = TENSOR ANALYSIS BY EDWARD NELSON Preliminary Informal Notes of University Cotrses and Seminars in Mathematics MATHEMATICAL NOTES PRINCETON UNIVERSITY PRESSANNALS OF MATHEMATICS STUDIES Edited by Robert C. Gunning, John C. Moore, and Mars 1, Algebeaic Theory of Numbers ‘By HERMANN WEYL. 3. Comsisteney of the Continuum Hypothesis By KURT GODEL, 11. Introduction to Nonlinear Mechanics By N. KRYLOFF and N. BOGOLIUBOFF 20. Contributions to the ‘of Nonlinear Oreillations, Vol. 1 LEFS H = 3 é 24, Coksnaons 1 te Tenor of Gans, Vol : * . Wy HW, KUBRC and 8 W. TUCKER 25. Contributions to Fourer Analysis Fdled by A: SYGMUND, W. TRANSUE, M. MORSE, A 2 EALDERON, and § BOGHNER i to the Theory of Games, Vol. I Ealited by H. W. KUHN and A.W. TUCKER 0 FRlemann Surfaces W, TUCKER, ond °. WOLFE Contribations to the of Gauss, Vol, IV Edited by R. DUNCAN LUCE and A. W. ‘TUCKER ue [ i 7. ‘of Formal Systems PRINCETON UNIVERSITY PRESS Privceton, New JorseySSSASREBRE ESE ANNALS OF MATHEMATICS STUDIES Continued from back cover Lectures on Modula, Foams mpostion Matiols ia Homotopy Groupe of Sper postion Methods in Homotopy Grou By H. TODA prio Big Cehomology Operations Tastes iy NuE. STEENKOD, woiten and seedy D. B.A. EPSTEIN By J. W. MILNOR ae oeteoes died by M. DIESHER, L. SHAPLEY, and A. W. TUCKER lows on Homogeneovs Spaces 1. AUSLANDER, Le CREEN, F, HAHN, ot at Elenestsy Diferentl ‘Toplogy By 1 MUNKRES By E SACKS Koot Groupe By LP. NEUWIRTH. Senin on the Atv Singer Tndex Theorem By KS. PALAIS CContiuoas Model. Theory By'C'C CHANG and MJ. KEISLER Lectues on Curves on an Algbrate Surface by DAVID MUMFORD ‘opsly Soman, Wicnso, 1965 Bdtol by Rr BING and Re], BEANTENSOR ANALYSIS By EDWARD NSLSON PRINCETON UNIVERSITY PRESS AND THE UNIVERSITY OF TOKYO PRESS PRINCETON, NEW JERSEY 1967Copyright ©) 1967, by Princeton Untveraity Frese ALL Rights Reserved Published in Japan exclusively by the University of Tokyo Press; in other parts of the world by Princeton University Press Printed in the United States of AmericaPreface These are the lecture notes for the first part of @ one-term course on differential geometry given &t Princeton in the spring of 1967. ‘They are en expository account of the formal algebraic aspects of tensor analysis using both modern and classical notations T gave the couse primarily to teach myself. One aiffieuty in learning differential geonetry (as well as the source of its great beauty) is the interplay of algebra, geometry, and enelysis. in the first part of the couree I presented the algetrate aspects of the study of the most fantiiar Kinds of stricture on a differentiable manifold snd in the second part of the course (not covered by these notes) discussed some of the geometric and analytic techniques. ‘These notes may be useful to other beginners in conjunction with @ book on differential geonetzy, such as that of Helgason (2,$1], Yonim [5,5], De khan (7,$7], Sternberg [9,98], or Lichnerovier (12,$9]. these books, together with the beautiful survey by 8. 8. Chern of the topics of current interest in aifferential geometry (Bui. Am. Math. Soe., vol. 72, pp. 167-219, 1966) were the main sourees for the course. ‘The principal object of interest in tensor anslysis ts the module of C” contravariant vector fields on a ¢” manifold over ‘the algebra of C” real functions on the manifold, the module being equipped with the additional structure of the Lie product. The feet ‘thet this module ie "totally reflexive" (i.e, that mitilinear fune~ ‘donals on 1 and tte dual can be identified with elements of tensor product modules) foNovs-for @ finite-dimensional second-comtableat. C* musdorft manifold ty the theores that such @ manifold has @ covering ty finitely many coordinate neighborhoods. See J- R. Makes, Rlenentary Differential Topology, p-28, Annals of Mathemitics Studies Yo. 54, Princeton Unimratty Press, 1963. Zvish to thank the members of the class, particularly Barry ‘Stnon, for my tmprovenents, and Elizabeth Epstein for typing the manuscript so Demitifiliy.o. 3. se $5. an. COMAENTS, MaltdLinesr algebras ee ee eee 2 2. Me algebra of scalars 2. Module 3: Tensor products 4. Multilinear tunetionale 5. two notions of tensor field 6. Felinear mappings of tensors 7. Contractions 8. The symmetric tensor algebra 9. The Graeemann algetrs. 10. Interior mitipLicaticn LL. Free modules of finite type 12. Classical tensor notation 13. Tensor fields on manifolds 2h. Tensors and mappings 1. Me products 2. Ide modules 3. Coor- Ginste Ide modules |. Vector fields md flove 1. Algebra derivations 2. Module dertvstions 3l ite derivatives li. Felinear derivations 5. Derivations on modules which exe free of finste type The exterior derivative ss sees e eee eee UT 1. The exterior derivative in local coordinates 2. The exterior derivative considered globally 3: The exterior derivative and interior miti- plicstion 4. The cohsalogy ring covarient differentistion. s+ see eee eee ee 37 1. Affine connections in the sense of Koszul 2. Te covariant derivative 3. Componente of affine connections. Claneies] tensor notation for the covariant derivative 5. Affine comections und tensors 6. Torsion 7, Toreton-free affine connections eni the exterior derivative 8. Curvature 9. Affine comectione on Ide algebras 10. The Bianchi identities 11. Ricoi's Meontity 12. Deleting end tuning 1. Principal fiber bundles 2. Ide bundles 3. The relation betveen the two notions of connection$8. 99. Rienanmin metrico 6 ee eee ee eee 89 1, Paeudo-Réenannian metrics 2. The Riezamian connection 3. Raising and lovering indices. The Rienann-Christofvel tensor 5. he codifterential 6. Divergences T. the Taplace operator 8. ‘The Wettzenttck forma "9. Operstore commiting vith the Iaplaceen 10. Hodge theory Symplectic structures... . « fee 1. Almost symplectic structures 2. Hamiltonian vector fields and Poisson brackets 3. symplectic structures in local coordinates. Hamiltonian dynamics Complex structies see ee eee ee eee BT 1. Complexitication 2. Alot complex structures 3. Torsion of an almost complex structure 1. Gogplex structures in Local coontinates "5. Almost complex connections 6. Hitler structures§1._wultttinear algebra te agetea of senters We make the yercanent conventions thac I de a field of charaen teristic © and that F is @ commtative algebra with identity over F° . Hlenonte of F will be called soatare anf elements of I will pe enlled constants. ‘he main exmaple ve have in mind is F° the field of real numbers and F the algebra of all real O™ fictions ona oC” manifold M.. In this exemple the set of all ©” contravariant vector fields is a module over F, with the additional structure thet the contravariant vector fields act on the scalars vie differentietion end on each other vie the Lie product. Tensor analysis is the study of this structure. Jn this section we will consider only the module structure. 2: Modules ‘The term "module" will alveys mean @ unitary module (x =X) - Tous on F module B is an Abelian group (written additively) with a napping of PE into E (indicated uy juxtapoaition) such thet ety) = seee, (erg)x = sex , (f¢)x = t(ex) 5 m=x, for all X,Y in Eo and fg in F. Ig E igen F module, the dual module x! is the module of alt$2. MUERTLDWAR ALcEERA Felinesr mappings of B into F. If We Rt we denote the value of o on X an E py eny of the symbols oe), xe), , -. It A Sean Flinesr mapping of E into E ite dual AY defined ty < Mur > =< wax > is on Filineer mpping of E' into g" . ‘here is 9 netural mapping ESE" defined by (a)(a) = cax>, oer, and B ie called reflexive incase K ts bijective. (The mapping « ie pot in general injective. For exemple, if F ts the algebra of all ¢” fuetions on @ manifold M and E is the F module of all contimous contravarisnt vector fields then Et = 0.) ‘the motions of gubmodule, F module homonowphien, and quotient module are defined in the obvious vay. Tf H ent K are F modules and HSK fs an F module tomonorphie then the quotient module H/ker T Se canonteally isomorphic to the imge of 7. See Bourbakt [2]. We vill frequently refer to the eleants X ofan F miule E as contravarsant vector fields or vector figlds and to elenente wo of the dual module R! as covariant vector fields or Loforms. Tensor protucts Bf H ani % are tro F modules, thetr tensor product Hac (over F) 1s the F mpdule whose Abelian group is the free Abelian grow generated by eli pairs BY with X in H and Y in K modulo the sub” group generated by all elements of the fom§1. MULTTLINEAR ALGEBRA (xy or - ner - 20° , @ wa(4yr%) = 18H = 184,» (ex)ey - x8(z¥) whore £ ie im 7, and the action of F on HK te given by 20a) = (ener = BEN). et B tea F module, He define # gf = BD...SENG...em’ (Er times, Hts tines). 12 x or ¢ in 0 ve sonetines ontt tt, and we set £2 - § wtice tant = 2, B= et. we aiso aetine F.Ee, =o a. 2 oe, nso 7 vara the suse exe weak direct euns (only finitely mary components of any ctezent are non-ter0). tice that By ent Bare aasoctative graded 7 algstres vith ‘the tensor prodst @ as miltiplication. We make the identification Se - Se, Wien wate Monticication, BT te an associative bi-graded Pgebra. waresaineas pmetionaie Yet E bem Faotule, We derine sf to te the set of all Fomltilinesr meppings of BK XE Oe (B" x tims, B 6 times)eB, is a scalar, and if eli arguments but one sre held fixed 1te value depends im on Felinear way on the remaining argment. With the obvious definitions of eaastion sat sealer multiplication, af is a Faoiuie. If zor 6 fs 0 we sonetines omit it, and ve cet 1f)= 20-2, = 7. Wottoe ‘het weg and B, = 5". We also define the veek direct sums For u in BE, v in EY ve define Oy (thie is a different use of the eyitor @) in EEE) ty (0 )(P, ga eggs) wa yy ecco MS tT ay Mgyge) + Then Ey and E* ave associative grated F algebras end EY 1s an asso- ciative bi-graded F algebra, all with @ as miltiplication. gieta 5. wo notions of tens The preceding paragraphs suggest two Aifferent notions of @ tensor field: an clement of BF or an element of BE. Happily, the two notions coineide for finite dimensional differentiable manifolds (assumed to be para compact). The second notion ie of greater importance, so thet 1f 2 ts an ¥F nodule ve will refer to elements of Ey as tenscr folds or tenscrs.2. MIDRETINGAR ALGEBRA A tensor in RE 4s said to be contraveriont of rank r and covariant of rank 8, Ey 4s the contrevariant tensor algebre, 2” the covariant tensor sagsica, end. the mluot tonsgr agra, mere to a naturel FP aigebre tonoaorphtan east, preverving the vlograding, defined by setting (xtx,¢ + 2,809...0F) ey =x) XCF 15) -u8(¥,) tua extending teat of Bf ty F ainoertty. By the definition of tensor robust, € 48 velledetined. ‘Tae ages with our previous aettnstan oe as enspping of E08, into zee, . Wo ol the P mile E tote setlertte in case As bijective. Ae mantiond tefore, the node wile of all ” contravariant vector fields on a finite dimensional pers compact minifold ts totally reflexive. 6._E:Lincar nappings of tensors Theorem 1. Let E been F nodule. then ET, ts canontoaliy isoncxphte to the F nodule Hory(2, 8) of oll Flinesr meppirgrot RE into Ef. The isonorphion t= 0(r)8,x",5") te defined by setting @) —— ((awOn.. .2x,9e40...23"))(r7,6 SL. MOUETLDmAR ALGER it extonting to am ot SF by Feninearsty. mi pertiouter, the Guat sodute of 3 te camontoatty tsonorphic to HT , ao that if 2 is totally refer ive then each EE is reflexive. Proof, me mmyping 1 te well-defined by the definition of tensor sroduet, and is an F module homonorshim. It 4s obviouly injective and surjective. @ED: Suppose that E ie totally reflexive. A number of epecial cases of Theorem 1 cone up sufficiently often to varrant discussion. We identity 2)" ant BE, ed denote the paring ty any of the exprensions » , uly), v(x), as convenient. If A te in BL ve use the sane symbol A for the Filineer trensformation 4(1,0,1,0)A of B= B, into itself, so that 2 < wAk > = A(Wx) AcH. Notice thot the Felinear transformation 4(0,2,0,2)A of BY into B is the Qu AY of A. Tf A and Bare in Et ve write AB for their product as F-lineas mappings of E into itself end similerly for &° he identity napping of E into iteel? ie denoted 1. If E ig totally reflexive then 1(2,0)2,0) identifies with the ect of all structures of F algebra (not necessarily associative) on B. Te B dein ove write B(X,Y) or Ry for the product in this sense of the two vector fields X and Y, go thet < Gy B(X,Y)> = < BY > = BK) » ner. Also, (2,0,0,1) 4dontifies E* vith the set of all F-linewr meppings of By into a7, co thet <0Q0),¥> = ux) > ue.Si. MUUIILINBAR ALGEBRA L Similarly, ¢(0,1,1,0) identifies Ey with the set of all F-linear mappings of a into m, » #0 that < awleb = vlan) » ve. L_ contractions let E tem F mule, and let ICUS, Isis . We define the contraction are oh: & > Be w (4,9... @048. ..2%) oF, x,0m9...R9...r0r0...0i% where the eireanelex denotes onissiin, ant ty extending ch to aun of SE hy Plmemity. By She devinttion of tensor product, this Se weliadefined, fd St fe a nodule tovomorphien. The Bneyclopaedia Britannica exie it aa cpesation of almost magical efficiency. (See the interesting article on sensor aneiyete in the ahth eattton.) at Act then GLA ie denoted tr A, and oplled the race of A. 8. the symmetric tensor sgebre Tat 3 bean F module and let Gle) ve the symmetric grou on y letters. For u sn Band o tn Gle) detine wols) by (00). yaF) = uo", ..yu8), wt at Ten p is a right representation of Gz) on, 5 that Ss, @) wo(or) = wolo}o(s} « Define Sym on E, byMERTEN ADEA simu = By Z ole) « (since ¥ te a fieta of characteristic zero, 1/z! makes vense.) Extend Sym to the contravartant tensor algebra Ey by additivity. A contravertant ‘tensor u is called symmetric in case Sym u us ms a in BL ts symetric if and onty if u(u",...,u") 4s invariant under the transposition of any pair of ule . The set of all symmetric teitors in EL is denoted S, snd the set of all symmetric tensors in By ts demoted Sy, so that Es, mo 7 where of course Sp Thecren 2. Sym le P-Linewr and is a projection (Syn? = sym) with range Sy. Consequently 5, may be identified with the quotient of By by the kernel of Sym. The Kernel of Sym is a two-sided seal in Ey Consequentiy the mlviplication ro) bv = Ba er makes 5, into au gasoeSntive conmentive grated slgetra over F- roo: Sym is clearly F-linear. That it is a projection follows trom (3) - 1t fe custiy checked that the average over a group vepresentation {5 a projection. The range of Sym is Sy by definition, so that ve may Adentity 8, with the quotient of Ey by the kermel of sym. By the definitions of © and sya, if ue, end ve, then ©) (Sym wr) (a4, a?) 8D yyfgl2), gst) Bg (uot) where 0 ranger over (> If Symu or Symv is 0 this is clearly1. ;UITETmAR ALGEERA 9. ©, 0 thet the kernel of Sym is a tyo-sided ideal, and the quotient alge- bra ts an associative commtat ve graded F algebra. GED. The algebra Sy is onlled the (contravariant) symmetric tensor algebra. One may also construct the covariant symetric tensor algctra 6”. 2: The Grasso algebra ‘The Giscussion of the (covariant) Grussmann algebra, given an F module Ey proceeds along einiler lines. For a in s* and o tn G(z) aotine oB(e) by (Ble) V045 2%) (een aCe (yyp Kony)» HE where smo is 1 for o an even permutation end -1 for o an od@ per- mtation. Then 3 is aright representation of G(r) on BY . Define Ant on EY by and extend Alt by additivity to Alta=a 4 called alternate or antisymmetric and 1s slso called an exterior form. ‘The eet of alternate tensore in E* is denoted av, end clevents of AT are onlled reforms. ‘he set of ell alternste tensors in EY is denoted A® , 50 thet notice that AO =F and Abst. A covariant tensor a of rank r te iterate ££ and only tf a(t;)+++4%,) chengos stim under the transposition of way tx Ws. Theorem 3. Alt ig F-Linesr and is @ projection with renge A”. Sed vith the quotient of B" by the kernel20. $2. MULTTLINEAR ALGEEEA of AIS. The kernel of Alt is @ tvo-sided {deal in B” and the miltin ap = Alt aos zakes A" into an associative graded aigetre over F satiofying 3) Bra (1)? as , oe, peat. Proof. he proof 1s quite analogous to the proof of Thecrem 2+ Instesd of (5) ve pave, for a in ET ani P in BY, (Dar o@AN Oy -+X,,,) TERETE F (oa a-hole) P(nea)? Malaee) he algebra A” te called the (coveriant) Gressmann algebra. One cen also constzuct the contraveriant Grassmamn algebra Ay Warming: As we have defined tne notion, an raforn is eimply a co- vortant tensor of vaxk ¥ vhich is elternete. However {t is custonary in the Literature, wml ve will foley the custom tecmise it is conventent, to eke fron tim to time conventions sbout afore which 4iffer from conven= ‘lone alxeady made about tensors. These special conventions have the pur~ pose of ridding the notation of factors rt, ete. If a 4s an exterior form ve denote ty a the exterior product of @ with itself k tims, of = Gn... If k>21 this ts 0 for a in 42 on for O an exterior product of Ieforme, but not for general elenente of AT. Wotloe that f= onf = for ¢ in P=A° ond a im at, A graded algebra whose multiplication satisfies (6) 16 sonetines called "coemtative," but this miserable terminology vill not te used here.$1. MULITELINEAR ALGEERA 2 Interior miltiplieation Tet X de inthe F module E and let a te a r-form. We define sa wy (8) XJa=0 af aca, ondve define X ya dy alditivity if a tea general elenent of A". The mapping @—>X Ja is Felinear from A” to A, ana it follows from (7) that it is en entidertvation of A” ; thet 1s, O} Xd (8) = Os a)ap+ (Fars p), aes, pea™. 2. Free nodules of finite type An F module E te free of finite type if there exist %,...5%, in B, called a beste, ouch thet every clemnt Y in F has a unique expression of the fore erry, ter. (Casese teatonted others, 1 advaye denoten gumution over alt reposted indices.) Theorem 4. Tet B be free of finite type, with s basis Ky). Thon E ie totally reflexive, ‘The dusl module hes « unique basis (cated the dual teste) such thet -8t, 3 i ied snd 0 others 4 4, ®...&, ao *g...80% of af, oo that omy u in of nas a untove expression of2. $2. MUUTTLINEAR ALGEERA The coesficiente in this expression (called the componente of u with 1 pect to the given basis of & ) are given by (a0) owe, fare a basis of AT, so that every reform a fas a untoue expression of the fora ie . The coefficients in this expression (called the components of o as an r- form or simily the components of a) are given by ale) + -form ere x! times the components of a regarded os on elemnt of ET. If r>n then AT = 0. HL vex’, ves), then wr bas comonents yest ats ea fo A, ca nas components If igi, igs amt we BE wit hua Sys -Syea yeas$1. MOLETLIBAR AZGEERA 2B. He we eii®) ana vent then (vu)y in #2) has componente dy ay muem, where the ¢ ig 1 ifthe J's sree permitation of the i's ond is 0 If aex™ then Alta bas components as an clement of E” Sy a agg wee, a, Tea e a (oat a) wuere the 8 ie 1 if the J's are an even permutation of the i'e, ie -1 Af the J's gre an odd permstation of the i's, and is 0 otherwise. If @ ison ragormand PB is an s-form then the (r9)-form a8 hae componente Syed (up), weal tes : a = oxy, ee yet yy demotion teste ot 2, andcetize of! sna ot, &abe SL. MUNTLTMAR ALGERA EE uc#® the components of m with reepect to the nev beste are oe wt aay, Ayes by, Proof. the proof is triviel. GED. Wotice that the primed indices do not teke values in the set (Qyssyn} but fs @ atejoint eet (2",...4n") of the sane cardinality. Tais notation is very conventent, as it makes 1t impossible to mike @ mie- take in writing the transformation levs. 22. _Chusstont tensor notation eepite the profusion of indices, the classical tenor notation 42 sroquentiy quite weft, eepectally in computations involving conteactsons- ‘he vector fields over coordinnte retgnorhood in a finite Asmenstonal sinifold are free aptule of Finite type, but the module of all vector fields does not in general have a basis. (If it does, the manifold is called parallelizable.) However, it is possible to use the classical tensor nota- ion globelly, without aay chotee of 1ocal coordinates, 1F ve make the fol toring soaventions. Wet E dean F module, and let we ze. Consider an expression of the form qu) Instead of "iy", we may use any other r¥e indices, provided they ave asetinet indices, The upper indies are called contravariant indices, ‘the lover indices sre covariant indices. Next ve suppose that the contra variant sndivee are covarient vector fields end the covariant indices are contravariant vector fielas. Then we define (12) to be the sealer$2. MULETLINEAR ALGEBRA 5. Fo eC eeertgndge essed) + (Ze woud perhaps be better to write J'...J°, but we don't.) Notice thet altho, the indices ere required to be distinct indices, the mathenaticnl objects they denote need not be distinct. (Thus ve may have 4) = 4, an covariant vector fields although obviously "4," ¢ "ip" .) Hovever, for an roforn O we mike the special convention thet (2) 4, Cypser) » acu. Yow suppose that Bis totally reflexive, oo that contractions of tensor fields are memingful. 12 ue 28 we define (a3) seedy Syyeecadype road)» Trotend of "a" ve my use ary other index, provided 4¢ ts distinct from the otter indtoos oosurring, Ax tndex which oocury precisely brice, once ts an upper index ard once ap & lover Sndex, 18 called « dumay index. Wotioe that there te no susmation odgn in (13). This ds Decmure nothing te being sumed. (Wien desing ¥ith componente with respect to 8 basis of « free nodule of finite type, ve will contine to write summation signe view summations oceur-) We may have more than one dummy index, provided they are 1 distinct from exch other and the remaining indices, to indleate repestea contractions. The rotation Se samhigious becmise, from the definition of contraction, the order in Which ‘he contractions are performed te imater‘al. Here are sone exteples of She use of this notation. Th all but the iret exemple ve secu thet Bis totally reflexive. if we 82 ana ‘then16. $1. MOLITLDMAR ALGEERA Te agi, ggg ea wc RE then usr’ ty The notation here is abusive. The right hand side of (2b) 16 not the product of to scalars but is written instead of feeence, poise ky (00 We witl indulge freely in this suse of notation, Wow let Sym, be the restriction of Sym to ET. Since Sym te F-linear, rf Sym. = 1(2,0,2,0)€ fore wiqu tasor ¢ in EE, aif wee, then ptt ty a fyeeedy Spe (sm ») Begs “The tensor € may be computed explicitly, and one finds dyed, speedy PRES Syrty > > ‘where perm denotes the permanent. (The permanent of @ square array of scalars is defined in the sane vay as the determinant except that there are no minus signs.) Sinilerly, i¢ ae 5° then on a ded (ant e Myst, THE PA. for @ unique tensor 6 in EE, andSL. MOUITTLTEAR ATGEERA a where det denotes the determinant. If aA and Be A® then (recall (2) end if XB then (x Ja), 13._Tensor fields on manifol: Tet p be apoint inthe C” manifold H. A tangent vector et p is on equivalence class of differentishie mappings x: IR —>M with x(0) =P, vhere x snd y are equivalent in case the coordinates of x(t) and y(t) atefer by oft) . One verifies that this condition ts independ- ent of the choice of local cocrdinstes, and thet eddition end miltiplieation by constants ore vell-defined on tangent yectors. ‘Thus the set of all tan gent vectors at p forms a real veetor space M,, called the tangent space at p. A-cotangent vector at p 16 the dual notion: an equivalence class of difterentiakle mappings f:M—>K with f(p) =O, vere f amd g ere equivalent if g(a) sn@ g(a) differ by little o of the difference im coordinates of q and p- Again, the condition 1s independent of the choice of local coordinates, and the cotangent vectors form a vector space which is im naturel wey the dus vector space to M, ‘the set 1(M) of ala tangent vectors at all pointe of Mes & natural structure of ” manifold as goes the set T'(M) of all cotangent vectors. ‘hey are called the tangent bundle and cotangent bundle. ‘They ere equipped with natural projections onto M-, the projections which assign to euch vector the point p st which it lives. A” section of the tangent Dundle fe cslled a contravariant vector field or vector field and ao”$2. MOUTTEOEAR ALGERRA Xx, Eigue 1. Pictures of a tangent vector x, and a cotangent vector 4, . A tangent vector gives @ direction and speed of notion, a cotangent vector 1s 6 linear approximation to 8 salar. ‘he tangent vector 2X, would be indicated by an arrow twice as long, 24, vould be indicated a relebeling of the hyperplanes (tvice as dense). In the figure x, and, ook as if they are in sone sense the sane, but ‘this hes no meaning unless the tangent space 1s equipped with additional structure, such af a peeudo-Riemannian metric or symplectic structure.SL. MOEPTLOEAR ALGRERA 29. section of the cotangent bundle 4s called a covarlant vector field or 1-fora. Tey form nodules E and E over the algebra F of all scalars (0 real motions on M). ‘Therefore we have the notions of tensor fields on Mend tensors at 8 point p- Tensore ere of great inportance in differential geometry because ‘thay are invartantly defined geometrical objects (‘independent of any coor Ginste aysten) which Live at pointe. Both cheractertstich are necessary in order for an object to be a tensor. suppose for exeaple ve attenpt to de- Fine a tensor u, coutrevartent of rank 2, by requiring, in loeal coords nates, wlan) = 2 84a, , woore 64 sg 1 af Su J and 0 otnervice. ‘This 2ives et pointe Dut se not invartantly defined, eince in ney coordinates x) it vould ‘anve components (on the other nana, sf are in etch coordinate eyeten, the comonente ot a certain tensor.) As snother exemple, let X be » fixed contraveriant: vector field other than 0 anddefine @ on E by (rx) = [X,Y] , where [X,¥) ts the Ife product of X and Y (§2). This is invariantly defined ‘but It does not Live st points, because in order to know 6(¥) at ® point We need to Inty sonething about Y in a netghboroed of p tn onter to Aterorentiate tt, In fact, @ 1 Relinear but not F-lineer, sinoe (fx) = £o(y)+(X-£)¥ , so that @ is not a tensor field. The condition of Petinwarity to in fast the condition that ao Remltiltnear object Dive at pointe. If for exemple is e l-form and X, = ¥, then (o(x))(2) = (o(e)(p) , since ve may write Xv = m2 vith t(p) #0, and co20. SL. MULETLOWAR ALGEBRA (9X))()=(#O) (@) = (0(22))(P) = FEARING) = 0 - The exemple of the Ide product shovs that not all dnteresting geo- netrical objects are tensors. Affine connections are another example of ‘second-order geometrical objects. ‘Tensor felde ere first-order geometrical objects since the notion of tangent vector involves one derivative. 2h. _Tensors and mappings Suppose ve have tvo F° elgcbras F and ¥, en F module E with dual E', and en ¥ module ¥ vith aut Ht. ve shall use the vord homomorprien for any of the following: (a) :Po>Y, an ¥ aigebra homonorphissy (as) eee, 4 group homomorphism (and sinilerly for p: Bt —> Bt) ; an o: (7B) —> (2) vhere pi P—>® ana p: B—>H are honomorphisns satisfying the compat- sbility condition as) plex) = o(t)e(x) , ferxer, (ana similarly for p: (F,B') —> (¥,2")) 5 and finally for Qs) ot (¥,E.E') —> (¥,2,2") tere 0: P—>% 0: ESM or BY > BY ere nomnorphteds antiotying ‘the compatability conditions (18) and (20) (es) = o(}0(4) » terwck,2. MOMITLTOAR ALcEERA a. (2) el< wk >) = < plu)e(er> , vent xen. oe Let ou vee C% mapping of the manifold M into the manifold NM. then OFF defined by (@78)(p) = £(6(p)) 18 « homomorphism. If ve recall vhat & ‘tangent vector at point p in M is, ve see that @ induces a vector space homomorphism (linear transformation) aK Bay) - Te te calted the aifferential of © at ps By duality, (40,)" + Hy) og Tf ve derine (0D), a> + < Byc_).88, 05> ‘then : (F) —> (FE) homonorphisn. Tn the sane vay ve obtain @ hososorphisn 8) — ee") of the covariant tensor algebras, vhich preserves the grading abd products @, and sends the Grassnam algebra X" into A”. However, 1% 16 tmme- diately clear to almost anyone thet ve do not in general obtain @ hoeouor~ phisn (FE) —> (#2) since @ is not necessarily onto, we may not heve 20,(%,) = atg() whenever @(p) = O(a) » and oven Af these aisfioutien do not arise we may not get & C” section of T(M) (see Exercise A. on p-83 of Helgason [2])- The mapping @ induces ¢” maps22. S21. MOUTTLIMAR ALGEERA Oy: 20H) —> 2), * ay —> tw, ‘ut 9, does not in general induce a mapping on C™ sections of 1M) « Suppose now that @ 46 a aitteonorshisn of M onto M. Then ve obtain @ homomorphion (in fact, on isonorphion) (22) : BRM) —> (eee) as follows. cn ¥ and B, ¢* is ee defined stove. For Y in ¥ ve define HE) = a8 40, % (o) * ‘Male homomorphion exteuis in a natural vay to the mixed tensor algcbras Tn the sane way ve obtain @ hosouorphisn (22) 1 $ 8 an imbedaing of M in He Te 4s unfortunate that covariant tensor fields transform contre- vvariantly under point mappings of manifolds, but 1t 1e too late to change ‘the terminology. Barly geoneters were nore concerned with coordinate changes than point mappings, and coordinates are scalars, which transform ‘tye cone vay as covariant tensor ftelds. Notice that ve have used the notation E* for covariant tensor ‘Hels im keeping with the fact thet they transform the opposite way to point mappings. Yor exemple, the cohomology ring is formed from the drags ssann algebra A” and it ie universally denoted K” . Jn our study of tensor analysis ve shell make no use of points except at one point in the discussion of harmonic forms (§T), vhere we will need the folloving notion.2. MILTTLINEAR ALGEERA 23. Definition. The F mpdule E 1s punctual if there exists a sepa- rating fasily of homomorphiens of the orm byt (BEE) —> (2 EES) vuere F,= 3° nd B, te 9 finite Ginensional ¥° vector space. ‘The module of contravarient vector fields on 2 manifold is punctual: take p, to be evaluation at the point p and B, to be the tangent space st Pp. References {1} M, Bourbekt, Eigeents de mathénstique, Hermann, Paris. See especially Book 2, Algbbre, Chaps. 2 and 3. [2] Sigur Helgacon, Differential Geonetry and Symetric Spaces, Acedenic Press, New York, 196.§2._Terivetions on scalars 29; A derivation of F ie en ¥°-linear mapping X: F—>? such that X(fe) = (Xr)g+2(Xe) , feePr. (ee $1.2 for the anmuaptions on ¥° and F.) It X and Y ate derivations then so is X6Y defined by Gone a xrext, sod if h is in P then IX detined by (nx)t = n(xe) fs aiso a derivation. mus the ect of all derivations of F ism F solule. It is denoted D. If XeD then XL =22492, go that X= 0. By FLinearity, Xe=0 forall a in Fo. If X and Y are in D, we define their Lie product [X,Y] ty [xyvle = twee - This is again a derivation: (x, yi(e) = xv(ee) - x(t8) = ¥((re)e + 2(¥e)) - r¢(xe)e+ 2(Xe)) = (xxt)e + (x2)(Xg) + (xe)(xg) + £(0%e) = (ue) g ~ (X#)(ve) ~ (ve) (xe) - £08) = (OGyie)e + 202, ¥e) - ‘The set of all F°-Linear mppings of F into itself forms an eociative ring, and D is a subset of it. In any associative ring we define the Lin product of amy two elements X and Y tobe [X,Y] =m.26 $2. DERTVATTONS OW SCATARS A cimple computation shows that the Jacobi identity @) {0t,¥],2] + [Ly,2],x] + 12,x1,¥] = 0 holds in any associative ring. Since D is closed under the forantion of le products, the Jacobi identity holds in st. (However, with respect to ‘the Lie product as mltiplication D is not in general associative.) ‘The Tecobs identity my be reerstten as (2) (x, [¥,2]) - [y,[%,2]) = [0,¥],2] - Define & on Dw (3) ae = boy). Then the Jacobs sdentsty (2) 1s ) (4,0, More generally, sf Y ie an Sterated Ide product of n elements °oxy] * Xyyeo%, » Sesociated in any vay, then by induction Gx is the sua of n terms, in the wath of which X, is replaced by 0%,» For exaxple, (5) Ow EEx,¥],2] = (00 x), 21,2] + (0x, 0, ¥9],2)+ Cx,¥0, 10,23) - qe X end Y are in D then clearly (6) (yx) ty The Lie product is 2°-bilinear, so that with the Lie product as multipli- cation D is en F° algebra (not in general associative). an ¥° algebra satistying (6) and (1) is called a Lic algebra, co that D is a Lie algebra over FP. Hovever, the Lie product is not F-bilinear. In fact, om [exer] » zelt,x] + r(te)r- g(r «$2. DERIVATIONS ow ScATARS on 2: Ie roautes Derinition. A Lie module is en F mpdule E together vith an Folinear mipping X—PX- of B into derivations of F end mapping Gx) —> Gry] of De into E such that with respect to it Z ie a lie algebra over ¥° and @) (er) = ebyyl+ (cz) , @ Dyke = xeee rae for sll f in PF and %Y in BE. Wotice thet from (8) and the fact that [7.x] is 8 Lie algebra over #°) the more general relation (a0) [tyr] = te(xyv] +e(t-a)¥~ (eee holds. We have the following. Theoren 1. et D be the module of All derivations of F , with xef= xf snd [x2] XYXK. Ten D is a Lie module. ‘The main example of Soterest 1s the Lie module E of ali derivations of the algebra F of O” functions one manifold, which may be identified with the set of a2 contraviriant vector fields. In the definition of Bie nodule ve aia not asoume that the onpping X—PX- ie injective. ccner cxamples of @ Lit module are # Iie algenra over y wnen P=, aod the Set of all vector fields on @ manifold invariant under some ©” action of tie group over the algebra F of all invariant scalars. oughly epedking, # Lie module is 2ike a Lie algsbre exceré hat the elements of the module act om the coefficients ty dersvations ina natural wey.28. $2. DERIVATIONS ox SCALARS. Definition. Int E bee Lie module, f a scaler. The aiffenential of f, af, is defined by (ae)(x) = x8, xen. Since K—PX- is Pelinewr, the differential of £ ie @ Lform Definition, A Iie module H 4s called a coordinate Lie module in case there exist sealers x1,...,x" (called coondinates) whose asfferentiale fare 9 basis for the module of 1-forms. Lat B be @ coordinate Lie module with coordinetes xy...) Then E1, and consequently B= E, , is free of finite type (§J-11) and therefore totally reflexive (§1.5). ‘he qa) ae, are a vasis of Et. Me dual basis, vhich is a baste of B, is denoted saa (a2) bo thet Oboerve that the elenents of the basis (12) commte (1.e. their Ide products ere 0) eines x2 « :2 §@. DERIVATIONS om SCALARS Roughly speaking, the flow 9 se the similtaneous action of the flows 0 and ¥. To eee (13) famally, notice that formally a(t) =e, since "= a(+)"0(0)* ana aoe ae ME) They =F + (#2): in povers of t is the sane as the expansion of eV") in povers of ‘Then the expansion of + , except for @ fraction of terms in each order such that the fraction tends to 0 as n— Se. ‘he product formile (13) in the very general setting of semigroups on Banach spaces is due to Trotter [3] Finally, let X generate the flov @, Y generate the flov ¥, end [X,Y] generate the flov 8. Then a /DYe « ‘To eee (1) gormlly, we make a formal computation te second order in +; (uy ep = sim (x. /D0(-, or tht 2 2 (sex + is Py (sey + ie Pyae + F Pats FP) + oft®) PPP Par PP Parr Pie PP Par + oP) ae? Ey] + oft) If we replace t? by t this gives, formally, ster), Senleralenaler 5 oc5) wan (At Ate AY,$2. DERIVATIONS oN SCALARS 3B ‘enie computation concerns the action of the glows on scalars, and the reoult is equivalent to (14) for the point flows. Helgason essentially gives @ proof of (14) for the case when X and Y are in the Lie aigetra of @ Ite group (see pages 96, 97 end 105 of [2, §2]). Tt should not be difficult to establich (24) in the genersl case of vector fields on @ manifold. We coneluée with an example. Consider a ear. ‘The configuration space of a cer is the four dimensional manifold mew xr? parameterized ty (3,349)0) , tere (xy) are the Cartesian coortinates of the center of the front exle, the angie 9 meagures the direction tn Which the car is heeted, and 0 is the angie made ty the front weels with the car. (Wore realistically, the configuration space is the open submanifold ~! Pune << Oagy +) See Figure 2. There wre tio distinguished weetor fields, called Steer end Drive, on M_ eoresyonding to the tvo ways in which ve can change the configuration of @ car, Clearly 5) steer = & since in the corresponding lov § changes at a uniform rate vile xy and g remain the gone. To compute Drive, suppose that the ctr, starting in the configuration (x¥,9)0) » moves an infinitesimal ais- tance -h in the direction in vhich the front vheels are pointing. In the notation of Pigre 3, D = (xen coa(q1e) +0(n), yeh sin(o+0)+0(h)) « let £= 4B be the longth of the tie rod (1f thet is the name of theah. &. DERIVATIONS OW SOATARS Bigwe 2. A car Figure 3. A car in motion$2. DERIVATIONS ON SCALARS 35: thing connecting the front and rear exiles). Tuen TD <4 too since the ‘tie rod does not change length (tn non-relativistic mechenics). Tt is readily seen that TE = t+o(n) , and since T= h sin 6ro(h) the engle BOD (which 1s the increment in g) 19 hain 0/f , while @ remains the same. Tet us choose units so that #=1. Then (26) Drive = cos(g0) G+ sin(gra) Z + sine Z. By (15) end (26), (21) [steer, Brive] = -sin(ore) Z + coolqre) & + cos 6S let slige Then the ite protic of ster ant Irie da eu vo side + fiat ca 0-0 , aot unerees © fb aie isthe etmtenots action of aise sot soning. Thin mtn i fst vn tae out out of taht parking spot. By formila (14) this motion may be approximated erbitrer- ee ee eee ee eet ee ee 80 Isborious is the square roots in (14). Tet us denote the Lie product (17) of Steer and Drive by Wrigele. shen further otage comput stor Ht we hve the snamttin [steer, Drive] = Wrigele, Isteer, Wrigele] = -Drive, [weigele, Drive] = siiae,36. $2. DERIVATIONS ON SCALARS and the commutator of Slide with Steer, Drive, and Wrigele ts zero. Thus ‘the four vector fields span a four Aimensional solvable Lie algebra over R. ‘To get out of an extrenely tight parking epot, Wriggle is ineut- fletent because it may produce too mich rotation. the lest commitation relation shove, hovever, that cna may gett out of an arbitrarily tight perking spot in the following way: wriggle, drive, reveree wriggle (this requires a cool hesd), reverse drive, wriggle, drives... + ‘The exemple 1llustrates a phensaenon of freduent occurrence in Aitterentiel geometry, nanely holonomy, or rather the lack of uolonomy. The vector fielas Staer and Drive, vhich at first eight give the only possible motions of a cer, span & module over the ectlare vhich ts not ged under the formation of Lie products. That is, the field of two @inensional planes in the tangent bundle is not integrable (not involue tive, not holonomic) and so is not the field of tengent planes to a fanily ef two dimensional surfaces. Motions which st first sight are Amposetble can in fact be approxinated erbitrartly clocely (in the 0° topology but not the C> topology) by possible motions. Reference 13] WP. Trotter, On the product of semi-groupe of operators, Pro- ceedings of the American Mathematical. goctety 10(1959), 545-552.aT 3 Derivations on tensors 2._Aigebre aertvatton Tet K be an F algttra, not necessarily commitetive or esto- csative. A derivation X of K is an Peiineer sspping of K into itself such that X(uv) = (Xu)v+u(xv) for all u mt v in K. The couputetion in §2.1 ufod neither coumtativity nor assoctetivity, wo if ‘X end Y are derivations of K so is [X,x]. The derivations lie in ‘he associative algebra of endonuphians of K as en YF vector space, 0 the Jecobt Sdentity holes. Thus the derivations of K fora a ite sagenra over . Now suppose ther K Ss a graded algebra. ‘That is, K ts the vouk direct sum where each Kx, CK, + The K. vith <0 are usually but not necessarily 0. An F° linear mapping X of K into itself is homo- gemeous of degree & if cach XK, CK,, » and homogeneous if tt ts homogeneous of degree 8 for sons a. ‘The notions of a bi-graded alge ‘ora, and bi-houogeneous mappings of bindezree (a,b) , are defined simi- arly. An sntidertvation of @ grated algstra K is an F°-1inear mspring of K- into tteelt such that X(uv) = Guy + (-2)Fulxw) » wew, ver. ‘The qnticommtator of X and Y te X+2K. A simple calculation establishes the folloving theoren. Treoren 1. Jet X and Y be antidertymtions on the graded Algebra Ky bopogensous of od degrees a snd b respective ‘the anticommtstor XY+ ie a derivation of K , homogeneous of Je- gee at38. $3. DERIVATIONS ow TENSORS a ee Tet EB bean P scdule, In lil ve defined the notion of a hommorphien of (FyB) and consequent}y we have the notion of an axto- morphism of (¥%8) . Formally, let p(t) be one-paraneter group of automorphisms of (FZ) and let 9 be the derivative of p at t (For example, o(t) ny te 0(t)" wnere 0(t) 42 a flow on a mnie fold.) By the product rue for differentiation we obtain, formally, a (ex) = 290K) + —(e)x » fer Lek. Mis motivates the following definition. Definition. Let E bean F module, A derivation 9 of (BE) 19 a derivation @ of F ond an F-tinear mtpping 9: BSE such that (1) holds. A derivation @ of (F,3)2") te «derivation of (FB) end an P-2inear mapping 9 EY —> BY uch that in adattion () ta) = 29(w) + (2)4 » fer wes, (3) PSUX> = + » went, xen. ‘Me motivation for (2) aid (3) is again the profuct rule for differentiation, ap {t ts of course the antivation for the definition of derivation of an 2° algebra. We shall. find 4t convenient to indicate derivations of a muber of different F mpiules by the same symbol 9. Tis 1s Legitinate, provided of course they €L1 give the sane deriwmtion of F, since we my regard @ a0 defined on the AtsJoint unton of F and the various F nodules. Treoren 2, Iet E been F aofule and let @ be a derivation of (FR). Mens (a) 9 has a unique extension to a derivation 9 of (FE,2").$3. TERIVATTONS on TENSORS a. (b) reve extort p to F" hen oft) = ex) for ala x tn By vere As the natural mapping of E into BE, (c) 9 on (FBR!) nas @ untgue exteneton which Je « deriven ton @ of ER agen F algebra, and ise derivation on (7.8%) forall r gots. (a) ewe extend 9 to be adertyation on (F865) ant define 9 onal of BY by asactavity, thon 9 is a derivation of Bf scan FP lgetra. forall u in a, ww WE easy esa) = (BNC, Fy oa) et, + Eu, OF ay ees = Mpeg) + Bul yey ky) « roof. We define @ on zt fy (3). Ten each mi ise Inform since Sf Wo replace X by 2% the additioned terms ge) on the two sides of (3) cancel. Similarly, (2) holds, so that @ isa derivation of (F)E,E') . The uniqueness is clear. By (8) ve do nave a unigus extension of @ to EY (such thet tt te adertvation ot (zE8")). forall K in By P = + « By definition of K, K say be dropped from the First two tems of ats, and by comperteon with (3) ve see that = = for all w im BY, so that oli) = Kg) - The uniqueness assertion in (e) 1s clear since ¥, E, and Bt generate Bf nn on JP algeura. to prove existance, ve need only ebovho. §3- DERIVATIONS on TENSORS that if Hand K are F auiules, @ derivation on (Fl) ant 9 a derivation on (FX) (agreeing on F), then ) o(kOx) = Ox + XOgr ts well-defined on H@K and extends by additivity to © derivation of (F,HaK) . To see this, notice that (5) 48 obviously well-defined on the free Abelian group used in the definition of tensor product (§1.3) and that @ sends (£x}8t-x9{rr) into the subgroup generated by the re lations imposed in §2.3, and so ie well-defined on HK. Tt te then clear that 9 ise derivation on (2,H8K) « By (a) end (c) and the fact (§1-6) tat BE is the dua or Bf, @ has a unigue extension as a derivation of (F,E¢,8") . We extend 9 wy maiiivity to BE. met wea’, vest, ve Bae. mes, wy (3), PSB YB = + » so thet ((oe)(y) vz) + algy)v(2) + why) Cov)(2)) + u(y v(o2) < abstr), yBe> + ulgye) + uly ope) « mast is, r+ py = (uv) , so thet 9 Se « derivation of ET os en algebra. Me fined forma () 40 simply (3) for u in BE and we... eer, 8...0%, mE. ap. Notice that ty (b) if E 4s totally reflexive, so that ve may saentisy $2 ana Ef, the two definitions of @ agree. The various derivations given by Theorem 2 will be called the derivations induced$3. DERIVATIONS oN SENSORS tay vy the derivation @ of (#5) - Mreoren 3. Let B bean F module and tet 0,9) be deri vations of (FB). hen the commtstor [9,0] of 9, ad 9, isa derivation of (FB) - he commutators of the derivations induced by 2 Op ae the dercvations induced by [9,95] + Proof. We have 94992) = 9, (49,08) + 95(98) = 2H,9(8) +9, (29408) + 99(2)9, 08) +94 (9Q(2)) and sinttarly for 9,9,(1) , 20 that {oypg 20) = ely) + (imyaple » and we Know thst [9,9] 10 0 derivation of F. The lust stetenent of the theorem 4s an innediate consequence of the uniquenest assertions tn Theorem 2. GED. By Theorem 2 and $1.6, ¢ @ 46 @ derivation of (FB) , we ENS,» and t= e(rsyrya") we have the following aisgren: sa at Jn general it does not commite, and [9,tu] = @(4u)- (suey ts not 0. Jet E besa F sodule, @ g derivation of (8,2), (6)te. §3- DERIVATIONS ON TENSORS. Proof. By the definition (§1.6) of &, ir ye RE, ze end v= (tu)(y) then v(z) ©.u(y@e) . ‘Therefore, ty (4), (ev)(2) = o(v(z)) - vio2) = eoly@z)) -uly@pz) = (gay @z) +u(gr@z) eo thet (6) holds. GED. Bee derivatives Suppose that E is @ Lie module (§2.2). By the definition of Le maule, if X¢E and we let af =x, rer, ar = yy), ver, then G 16a derivation of (FB) . The intuced derivation @y on ‘the mined tensor algebra is called the Ise derivative. Thus G ts defined on 1-forms w by (3), vhich gives om XcwY> = 4 , rer end for tensors u contravariant of renk x and covariant of rank ¢ BRIX) « If X 4g 8 vector field on a manifold, generating the tov 4+), then for any tensor field u, Qu te the derivative at t=0 of e(t)"a (see [4))-$3. DERIVATIONS on ENSoRS 43. Peltneay dentvations Tet E bean P nodule and let A be an Plineur traneform tion of E into itself. (If E is reflexive the set of F-linear ‘transformations of E into itself can be identified with =}, by §1.6). Define 9 on (BE) ty ag=o, ter, axe, ren. Then qq te cleerly « derivation of (FB) , and every derivation of (RE oleh is FPlinear au 0 ob F 48 of this type. he induoed deriva ‘ona are also denoted qs By (3), Gq on EY da At, where At te the dual of A. By (I) ve haw for u in BD, (9) (90h, pF yea) Ey ht Py ay) we = Baal ry eaMr est) + wet ‘We shall nave occasion lster (§7) to use @ releted notion. Meoren 5. Tat E bee totally reftesive 7 mofute, tere to eunique PeLincer eupping @ of Hf into the F module of att PeLiuear mappings of the mized tensor algebra 2% into iteete such that feai pat cm By 0) sao * 99% + For gach A in 1%, 9 maps etch Bf into itself and each A” into in aT then Ateclt, ond @ i2 O on F. It aa $3. DERIVATION OW TENSORS (er) ping E} XE} — vom, (2,25) Walch senda (8,0) t QytGy 1s F-RLinear end so (by the definition of tensor product) has a unique F-linear extension @ to EL@E} - since q foe 3 in oi sends each of and AP into tteelt ent te © on F, % has the sane properties tthe notation in (11) is thet of §1.12. To prove (11) tt out. floes to consider the ease A= BGC. By (9), 02) OMe at 5 (ay cen, aca’, we Where we have male use of the fact that a is ditemeting. If ve use (22) to compute 99 » we find (12) for the cuse A= BOC. GED. Derivations on modules which are free of finite type Theoren 6. Jet E bean F module, free of finite type with basis %,...,%, + Jet @ bee derivation of (FE) ana define 7} & ote,) = ay, « It wea! the omponente of ou are$3. ERIVATTONS om TmsoRs 45. BE yuseekyy Aaenotner baste aoe of! ana GH, are datined og tn Slay awit 7) 4s deine’ vy 01) = BAK» Ale wht + motos" Jet 2 bea coordinate Lie motule vith coomtinates 32)... and let the vector field X have componente Xx! . Then te 1 ore: spouting to the Lie derivative 6 axe A=... at a It X has comonents x*' with respect to nev coordinates x!’ a ak ad alt at ad” ar a ak a Adak oF Ro # a where ve we the notation pay to mean wae ae Proof, ‘he proof te trivial. GD. Formila (13) shove the basic fact thet the partial derivatives of the components of a tensor do not in general form the componente of46. §3. DERIVATIONS ON TENBORS: tensor, This vas what led Christoffel to the notion of covariant aisterentiation (§5). Reference Th] R.5. Palate, A definition of te extertor derivative in terme of Ide derivatives, Proceedings of the American Mathematical Society (2954), 902.908. In the definition on p.908, @ should be sdentitied with (1) sather than with a itself.Gh. ‘the exterior derivative “ 1. he exterior derivative in local coordinates Iet EB bean F module, A” the Grassmamn algebra ($1.9). By an exterior derivative we mean an F°-Linear mapping 4 of A* into Steele ouch that tm) ae, te} a(cp) = ans + (-1)Faap aes, pea’, (03) @s0. Theorem 1. Let B be a coordinate Ite module. Then there is A.unique exterior derivative @ such that for all scalars f, af 9 Se differential of £ - Proof. Iet x',...,x" be coordinates. Then each @ in AT 4s uniquely of the fore a ax dA. .par eee cos ayes, Ate Ie [2] ana [D3] hola then ve mst wave That 1s, the couponente of ax are ra, 2 E (att 2 a, el aL. Q) (aa), This proves uiquenes {fo prove existence, choose coordinates and define a by (1), extending to all of A” by additivity. Ten @ te x°-1inear, and [01] holds, Te relation (D3] tolds since the 2/2" and 3/3” commute. To prove [02], let aes", BEAT. By the explicit formla in §1.11a8. Sh. TE ERTMRIOR DERIVATIVE for the components of Gx and by (1), [D2] holds. aap. The proof shovs, of course, that (1) holds for any choice of coordinates. This is certainly the quickest approach to the exterior derivative on a mmtfold, tor once 4 is known locally it ée trivial to define St globally. Hovever, a coordinate-free treetment of the exterior derivative ts worthvhile for several reasons. Yor one, it applies to Lie modules vhich do not have coordinates (even locally, ouch as a Lie algebra over FeP°). ‘The invariant expressions for @ are useful. Pinally, it deepene one's understanding of the exterior derivative and shove it to be the natural dual object to the Lie pro~ duct. ‘Tho exterior derivative considered globally Ef E 4s a totally reflexive Lic mdule there is @ unique exterior derivative 4 such thet for ell scalars f, af ie ‘Theorem the digferential of f and for all 1eforms W and vector field x aay, () 2aw(x,x) = X-w(y) ~ r-a(x) - (X41) ‘If E 4s any Le molute and ve define a on AY by ) ae a d= Btay 7 x, 204, (3) Geradaay a) ee eck + 2 (aol ix xy br, ron wey and ty extending 4 to allof A” by ataitivity, then a is an exterior derivative.Sk. THE MOTERIOR DERIVATIVE 49. roof. Yor % totally reflexive, A° end At generate A* as en F° algebra, so the uniqueness assertion ts clear. (Notice that ‘the requirements that df be the differential of f and (2) are the special cases r=0 and r=1 of (3).) Therefore we need only prove that a defined ty (3) is an exterior derivative. tat BF aenote the set of all FP-mattiiner (not necesserty F mutiiinear) mappings of Fx ECR. w cata, B,and @ is in F , ve use the notation o([X,2)) as en sbbrevi- XE (x tims) into F. Tus Z,) isin EX..xE (x times), X is in tion for (1,2, 1,25 -+-4%) + (24 51525], Yor a in ve define (2,0) - 2) ort O(a 2oy (Ba) (3,2) x-a(2) - $ a((x,21) end (20)(#) =a Af re. men da te in HP? and ie not in general in #2 oven if @ te in 2. tot A be the set of all alternating elenente in # , co that ATC ACH. por a in ve define da = Alt 3a; that te, Pa : Gee tatty eat) 9 ECP ROO yy Raa) + For a im AT thie definition of aa agrees with (3). Tt te trivial that a: FF = 2°", ond « simple computation shows that a(a8) = done + (27788 ae. We claim thet a: aT —na™l; that ts, if @ ie Fomltitinesr fo de da. To cee this, let aesT, feP, andlet50. Gb. TE MOTERIOR DERIVATTVE HAO 2 py ++ sKyg) + 7 = t(ett)80(%, Hypo yyy) » eh Bo Ea tatty. We mst show that B=7. But yea Be Oo Magg) = BE Og ool Mle ra + Belay hug) 2 FA 8 Bayer Pky leo egy)? ve x sy-fore-deer, Videh proves the chain. 2 Tt remains only to show that a? = 0. A simple computation shove that for a in A, ) et us therefore compute Pa(x,x,2) - Falx,x,2) for X and ¥ in Bo end Z in BX..xXE (r times). Let A(¥,Z) = da(x,2) , so that Falx,x,2) = 98(x,¥,2) . We have (x2) = ra(z) - § a(ly,2]) , 0 thatSh. (ME RETERTOR DmRIVATIVE phe Pa(x,y,2) = x-¥-a(z) ~ F,YI-a(2) - F Y-aEx,2)) - Fx-a(l4,21) + Fa(lbeyl,2)) + $ o(ty,f21) « Since X+¥-a(Z)~¥-X-a(Z) = [X,¥]-a(2) we fina that Polx,x,2) - Paty,x,2) = E o(ttx,v1,2) + # aCty, (2,212) - } a(EtxxI,21) - 2 oftx,fx,211) = hottex2) , where vo have used the Jacobi identity to cancel the first, second, and fourth terms of the second line end the antisymetry of the Lie product to recwrite the third term. Consequently (41) is equal to sUxpX]x1,- BEY 2 oy By Bo (a(t x be depend, FB Umm bey 8 Mev for Peto 141% Bavyd phypeeerlaya) = qe, hewey He | aye, ucney ays, ucver, ana OM (a)HYMD se ayy,A are in thelr naturel onder, oY changes sign under transpositions, and Y= 0 if u,v,A ere not aietinct. Ry the Jacsbt identity again, the last sun is 0, so thet Peo. wD52, Sh. EE MERTON DERIVATIVE If E 4s ony Lite module ve shall call the operator a defined ty (3) the exterior derivative. Dreoren 3. Let B bee totally reflexive F module, @ om exterior derivative on A”. Define X-f for X a wetor field and f a scaler by ©) att) = xr ged define (%,Y] for X ad Y yeotor tetas by © 2au(X,2) » x-u(r)-Y-u(x)-wEG YD), went. ‘Then vith respeot to these operations B ie a Lie module. Tus for ¥ a totally reflexive PF module there is onesto-one correspondence be- tveen structures of Ide module on E and exterior derivatives on the Grasonann algebra. Proof. Reoall the definition of Lte module in §2.2. Since af is a L-form, K—HX+ is Flinear. Since a(tg) = atag + fatg , each X+ is 9 derivation of F. Next we need to show that [)¥] 4s in Ej that is, that u([x,x]) 4s Flinear ino. mt (£0)([x,¥]) = X-((0)(x)) ~ ¥+( (#00) (2c) -2Ca(t)) (x, 2) = etea(y) + (x2)o(x) = AE-w(K) = (x-2)a(x) ~2(aewe)(x,¥) = feau(K,Y) 5 ‘and by definition of the exterior product, 2(atw)(X,¥) = af(x)o(x) + o(x)ar(x) = (x-t)o(y)+(vet)o(y) - thus (24)(Dx,¥]) = 2(0(fx,¥1)), ant [XY] isin B. Also, 0 = 2d e(x,x) = x-ae(r) -¥-ae(x) - ae([x,x]) sone sree - yt.Qh. THR EXTERIOR DERIVATIVE 33 since 2au(x,x) = -2au(X,¥) , we neve [¥,K] = -[%,y] . Since ao te a 2-form, s2au(%,¥) = 2au(x, 2x) = xo(ty) - fr-u(x) - off, 24)) so that [xyer] = they] + (ce)y Te is clear that [x,y] te 5°bi- linear in X and Y, so it remains only to prove the Jacobi identity. Define @ vy formia (3), 80 thet @ equals @ on scalars end L-forms. ‘he proof given in Theorem 2 that @ maps AT into a? and that @ te an antidertvation aid not use the Jacobi ddentity ent 20 remains valid under our present assumptions. Since B is totally reflexive, A” 40 generated as an 3 algebra by A° ant AY. Con sequently, 2 =a. Therefore we may use (3) to compute 0 = du(x,%;2) for a l-form. Iet us use G to denote cyclic sums, m © K(x,x,2) = K(K¥,2) + K(Y2,X) + K(Z,x,¥) » Where K 4s any fimetion from BXEXE to an additive group. If a ine 2-form, (3) may be written @ 3an(%,¥,2) = G Oro(y,z) - o((x,¥1,2)) « If ve 1et G= 280, vhere © is 6 1-form, ve obtain 0 = 6aPutx,y,2) = © cerw(a) - x-z(2) « x-o( 4,20) <[x,x1-w(2) + aeutbe,y]) + w(t x1,20) = Go(lix,11,2)) - Since thie is true for all I-forme & , the Jacobi identity holds, QED.oh. Sh. SE RKPERTOR DERIVATIVE More gonertlly, the proof shove that Sf B 4s an arbitrary F module, if 4 4s an exterior derivative on A”, and we define -f for X im Bee" and f in F by (5) (1.0.5 (3) for m0) and fey] for x ant ¥ an B ty (6) (Lees, (3) for man), ant af (3) olds, then E, is 0 Lie module. ‘hus Le products end exterior Aerivatives ere dual notions, and the Jacobi identity corresponds to the fac ‘that an exterior derivative has square 0 . The exterior derivative and interior miltipliestion Theoren, Jet E bee le méule, X in E. ‘then the anti- conmitator of the exterior derivative snd interior multiplication by X is the Lie derivative @, on exterior forms. That is, () gy = a(x Ja) +x daa, gee TE @ 4s 0 closed exterior forn, 00 Je exsot. Proof. We give the proof first under the sssunption thet F 4s totally reflexive, since this 1s the case of interest in differential ceonstry and the proof is less computational. Since a is an enti- derivation of AY vaich ts homogeneous of degree 1 el interior milti- plication by X ie an antiderivation of A” vhicn te homogeneous of degree -1 ($2.10), their anticonmtator ie a derivation of A” which se homogencous of degree 0 (Iheoren 1, §3-1)- Tf Eds totally reflexive, A” is generated as an F° algebra ty A° and A, 50 ve need only verify (9) for @ @sctler or Iform, If a=f isa scetar, (9) says that X-f = az(x) , vaich ds true, If @=0 toe storm, (9) says that for ali vector fields Y, < Quyx> = + 2au(x,x) ,