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**Solutions by Sergei Winitzki
**

Last modiﬁed: 2008-09-23

Contents

1 Coordinates and 1-forms 2

1.1 Invertible transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Examples of coordinate transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.3 Basis in tangent space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.4 Diﬀerentials of functions as 1-forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.5 Basis in cotangent space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.6 Linearly independent 1-forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.7 Transformation law for 1-forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.8 Examples of transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.9 Supplementary problem sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Tensors 7

2.1 Deﬁnition of tensor product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 Example of tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.5 Contraction of tensor indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.8 Examples of spaces with a metric . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.9 Supplementary problem sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 The Christoﬀel symbol 10

3.1 Transformations 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.2 Transformations 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.3 Covariant derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.4 The Leibnitz rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.5 Locally inertial reference frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4 Geodesics and curvature 12

4.1 Geodesics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.1.1 First derivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.1.2 Second derivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.2 Commutator of covariant derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.3 Parallel transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.4 Riemann tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.5 Lorentz transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5 Gravitation theory applied 15

5.1 Redshift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.2 Energy-momentum tensor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.3 Energy-momentum tensor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5.4 Weak gravity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5.5 Equations of motion from conservation law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6 The gravitational ﬁeld 18

6.1 Degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.2 Spherically symmetric spacetime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.2.1 Straightforward solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.2.2 Solution using conformal transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.3 Equations of motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

1

7 Weak gravitational ﬁelds 23

7.1 Gravitational bending of light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

7.2 Einstein tensor for weak ﬁeld . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

7.3 Gravitational perturbations I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

7.4 Gravitational perturbations II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

8 Gravitational radiation I 27

8.1 Gauge invariant variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

8.2 Detecting gravitational waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

8.2.1 Using distances between particles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

8.2.2 Using geodesic deviation equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

8.3 Poisson equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

8.4 Metric perturbations 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

8.5 Metric perturbations 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9 Gravitational radiation II 30

9.1 Projection of the matter tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

9.2 Matter sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

9.3 Energy-momentum tensor of gravitational waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

9.4 Power of emitted radiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

10 Derivation: gravitational waves in ﬂat spacetime 34

A GNU Free Documentation License 35

A.0 Applicability and deﬁnitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

A.1 Verbatim copying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

A.2 Copying in quantity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

A.3 Modiﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

This is a complete set of solutions to the exercises oﬀered in the lecture course “General Relativity” (Allgemeine

Relativit¨atstheorie) taught in the winter semester of 2006-2007 by Prof. V. F. Mukhanov at the Department of Physics,

Ludwig-Maximilians-University, in Munich, Germany. A good textbook corresponding to the level of this course: General

Relativity: An Introduction for Physicists by M. P. Hobson, G. P. Efstathiou, and A. N. Lasenby (Cambridge University

Press, 2006). Many of the exercises and all of the solutions were authored by Dr. Sergei Winitzki. This ﬁle contains only

the solutions; the problem statements are available separately.

This text is copyrighted by Sergei Winitzki (2008) and distributed under the GNU Free Documentation License. In

particular, it is permitted to print, copy, and distribute the entire text (or parts thereof) at no charge. The text may be

modiﬁed at will, and modiﬁed versions may be distributed again under the terms of the same license. The license also

stipulates that the entire machine-readable and human-editable source code for this text should be made available when

the text is distributed in any form. The full text of the license is in Appendix A. The full L

A

T

E

X source for this text is

attached inside the PDF ﬁle.

1 Coordinates and 1-forms

1.1 Invertible transformations

The inverse function theorem guarantees that the equations ξ

α

= ξ

α

(x) are solvable near a point x

0

if det

_

∂ξ

α

(x)/∂x

β

_

,=

0 at x

0

. Under this condition, the coordinate transformation is invertible at x

0

. Note: we are inverting not just one

function ξ = ξ(x), but we are determining x from a system of n equations, say ξ

α

(x) = C

α

, where C

α

are n given values.

1.2 Examples of coordinate transformations

1. a) Since x = u

_

1 +v

2

_

+u

3

/3, it is clear that x has range (−∞, +∞) for any ﬁxed value of v as u varies in the range

(−∞, +∞). Similarly, y has the range (−∞, +∞). To verify that the coordinate system (x, y) covers the entire plane,

it is suﬃcient to show that x has the full range at every ﬁxed value of y. It is suﬃcient to consider y

0

> 0 (else change

v → −v). At ﬁxed y = y

0

> 0, we have y

0

= v + vu

2

+ v

3

/3 and thus the admissible values of u are from −∞ to +∞,

2

while the admissible values of v are from 0 to v = v

max

such that y

0

= v

max

+

1

3

v

3

max

. Then

u = ±

¸

y

0

−v −

1

3

v

3

v

(we have

y

0

−v −

1

3

v

3

v

≥ 0 for 0 < v < v

max

),

x = ±

_

1 +v

2

+

y

0

−v −

1

3

v

3

3v

_

¸

y

0

−v −

1

3

v

3

v

= ±

_

2

3

+

8

9

v

2

+

y

0

3v

_

¸

y

0

−v −

1

3

v

3

v

.

We have now expressed x as a function of v, i.e. x = x(v). When v varies from 0 to v

max

, x(v) varies from ±∞ to 0.

Since x(v) is nonsingular for v > 0, it follows that x has the full range. Therefore, the coordinates (x, y) cover the entire

two-dimensional plane.

b) The coordinate transformation is nonsingular if

det

∂ (x, y)

∂ (u, v)

,= 0.

Compute:

det

_

∂x

∂u

∂y

∂u

∂x

∂v

∂y

∂v

_

= det

_

1 +u

2

+v

2

2uv

2uv 1 +u

2

+v

2

_

(1)

= 1 + 2

_

u

2

+v

2

_

+

_

u

2

−v

2

_

2

> 0.

Therefore there are no singular points.

2. a) To determine the range, ﬁrst consider φ = 0. Then x = r sinh θ, y = 0, z = r cosh θ. It is clear that z

2

−x

2

= r

2

.

Since r ≥ 0, the coordinates (x, y, z) cover only the domain [z[ > [x[. With arbitrary φ, it is clear that the coordinates

(x, y, z) cover the domain [z[ >

_

x

2

+y

2

.

b) Compute the determinant:

det

_

_

sinh θ cos φ r coshθ cos φ −r sinh θ sin φ

sinh θ sinφ r coshθ sin φ r sinh θ cos φ

cosh θ r sinh θ 0

_

_

= r

2

sinh θ.

The coordinates are singular if r = 0 or θ = 0.

c) The singularity at r = 0 is due to the fact that the set ¦r = 0, θ, φ¦ corresponds to a single point x = y = z = 0.

This is similar to the singularity of the spherical coordinates at r = 0. Points along the cone [z[ =

_

x

2

+y

2

are not

covered because they correspond to θ → ∞, r → 0. The singularity at θ = 0, r ,= 0 is due to the fact that the set

¦r, θ = 0, φ¦ corresponds to the point x = y = 0, z = r at ﬁxed r ,= 0. This is similar to the polar coordinate singularity.

3. a) To determine the range, note that r sin θ ≥ 0 for the given range of θ and r. However, this is immaterial since the

factors cos φ and sin φ will make x, y cover the full range (−∞, +∞). The coordinates (x, y, z) are a slight modiﬁcation

of the standard spherical coordinates. These coordinates cover the whole space (x, y, z).

b) Compute the determinant:

det

_

_

−sinθ cos φ −r cos θ cos φ r sin θ sin φ

−sinθ sin φ −r cos φsin φ −r sin θ cos φ

cos θ −r sin θ 0

_

_

= r

2

sin θ.

This is nonzero unless r = 0 or θ = 0.

c) The singularities are completely analogous to those in the spherical coordinates.

1.3 Basis in tangent space

Suppose that the vectors e

α

=

∂

∂x

α

are linearly dependent, then there exist constants c

α

, not all zero, such that the vector

c

α

e

α

equals zero. Act with this vector on the coordinate function x

1

:

c

α

e

α

x

1

= c

α

∂

∂x

α

x

1

= c

1

.

By assumption, c

α

e

α

= 0, therefore c

1

= 0. It follows that every c

α

equals zero, contradicting the assumption.

1.4 Diﬀerentials of functions as 1-forms

d(x) = dx, d

_

x

2

_

= 2xdx,

d (xy) = xdy +ydx, d (x +y) = dx +dy,

d

_

4x

2

y +x

3

z

_

=

_

8xy + 3x

2

z

_

dx + 4x

2

dy +x

3

dz, d

_

3

_

x

2

+y

2

_

= 3

xdx +ydy

_

x

2

+y

2

.

3

Now let us compute dh by ﬁrst ﬁnding

d (arctan(x ±y)) =

dx ±dy

1 + (x ±y)

2

,

d

_

arctan

2x

x

2

−y

2

−1

_

=

1

1 +

4x

2

(x

2

−y

2

−1)

2

_

2dx

x

2

−y

2

−1

−

4x(xdx −ydy)

(x

2

−y

2

−1)

2

_

=

−2

_

x

2

+y

2

+ 1

_

dx + 4xydy

(x

2

−y

2

−1)

2

+ 4x

2

.

Adding these together and noting that

_

1 + (x +y)

2

__

1 + (x −y)

2

_

=

_

x

2

−y

2

−1

_

2

+ 4x

2

,

we get

dh(x, y) = d

_

arctan(x + y) + arctan(x −y) + arctan

2x

x

2

−y

2

−1

_

= 0.

This means that h(x, y) is a constant. By using the tangent sum rule, we can easily show that h(x, y) = 0.

1.5 Basis in cotangent space

Note that the relation

_

dx

α

,

∂

∂x

β

_

= δ

α

β

is the deﬁnition of how the 1-form dx

α

acts on vectors ∂/∂x

β

. Now, it is clear that any 1-form is decomposed as a linear

combination of the 1-forms dx

1

, ..., dx

n

. It remains to show that all these forms are linearly independent. If this were

not so, there would exist a linear combination c

α

dx

α

= 0 such that not all c

α

= 0. Act with this on a vector ∂/∂x

1

and

obtain

0 =

_

0,

∂

∂x

1

_

=

_

c

α

dx

α

,

∂

∂x

1

_

= c

1

.

Therefore c

1

= 0. Similarly, we ﬁnd that every other c

α

= 0, which contradicts the assumption.

1.6 Linearly independent 1-forms

1. Two 1-forms d(e

x

cos y), d(e

x

siny) are linearly independent for every x, y because

d (e

x

cos y) = e

x

cos ydx −e

x

sinydy,

d (e

x

sin y) = e

x

sinydx +e

x

cos ydy,

and the following determinant is always nonzero,

det

_

e

x

cos y −e

x

siny

e

x

siny e

x

cos y

_

= e

2x

,= 0.

2. Two 1-forms (1 +y)dx −2xydy, 8dx are linearly independent if the following determinant is nonzero,

det

_

1 +y −2xy

8 0

_

= 16xy.

This happens for xy ,= 0.

3. Three 1-forms dx +dy, dx +dz, dy +dz are always linearly independent.

4. Three 1-forms dx −dy, dy −dz, dz −dx are always linearly dependent (their sum is zero).

1.7 Transformation law for 1-forms

The transformation law for 1-forms,

d˜ x

α

=

∂˜ x

α

∂x

β

dx

β

,

under a coordinate transformation x

α

→ ˜ x

α

= ˜ x

α

(x

β

), is merely a diﬀerent interpretation of the deﬁnition of the 1-form

d˜ x

α

(see Problem 1.4), where ˜ x

α

(x) is considered a scalar function in the coordinates

_

x

β

_

.

4

1.8 Examples of transformations

a) First compute dx and dy:

dx =

_

1 +u

2

+v

2

_

du + (2uv) dv,

dy = (2uv) du +

_

1 +u

2

+v

2

_

dv.

Then it is easy to compute xdx +ydy,etc. For instance,

d

1

x +y

= −

dx +dy

(x +y)

2

= −

(du +dv)

_

1 + (u +v)

2

_

(u +v)

2

_

1 +

1

3

(u +v)

2

_

2

.

b) The component transformation matrix is given in Eq. (1).

1.9 Supplementary problem sheet

1A Tangent plane

If the tangent plane is at angle α with the horizontal, then the acceleration is g sin α (from elementary mechanics). Since

0 ≤ α <

π

2

, we need to maximize α or, equivalently, tan α, which equals

∂z

∂r

=

rh

σ

2

e

−

1

2

r

2

σ

−2

, r ≡

_

x

2

+y

2

.

The maximum of ∂z/∂r is at r

0

= σ. For example, a point with maximum acceleration is x

0

= σ, y

0

= 0, z

0

= −he

−

1

2

.

The tangent plane at a point (x

0

, y

0

, z

0

) is given by the equation

n

x

(x −x

0

) +n

y

(y −y

0

) +n

z

(z − z

0

) = 0,

where (n

x

, n

y

, n

z

) are the components of the normal vector,

(n

x

, n

y

, n

z

) =

_

∂z

∂x

,

∂z

∂y

, 1

_¸

¸

¸

¸

x0,y0,z0

=

_

e

−

1

2

h

σ

, 0, 1

_

.

Therefore the equation of the tangent plane is

x

σ

e

−

1

2

+

z

h

= 0.

1B Induced metric

The induced metric is found by taking the expression for the bulk metric, g = dx

2

+dy

2

+dz

2

, and computing dx, dy, dz

through the forms dθ and dφ:

dx = 2a sinθ cos θ cos φdθ −a sin

2

θ sin φdφ,

dy = 2a sinθ cos θ sin φdθ +a sin

2

θ cos φdφ,

dz = 2a cos 2θdθ.

Therefore

g = dx

2

+dy

2

+dz

2

= a

2

dθ

2

+a

2

(sin θ)

4

dφ

2

.

The metric is degenerate at θ = 0 and θ =

π

2

. The singularities at these points are not merely coordinate singularities

that disappear when choosing a diﬀerent coordinate system; but the reason is subtle.

To ﬁgure out the nature of these singularities, let us visualize the surface in a neighborhood of θ = 0. The y = 0

section of the surface corresponds to sin φ = 0, so φ = 0 or φ = π. Then

x = ±sin

2

θ, y = sin θ cos θ, x = ±

1 −cos 2θ

2

= ±

1 −

√

1 −4z

2

2

.

This is a union of two circles touching at x = z = 0. Hence, the surface is a torus with zero inner radius, i.e. intersecting

itself at x = y = z = 0. The rotational symmetry around the z axis leads to a “cusp” at θ = 0: the surface has a sharp

corner and the metric cannot be made smooth and nondegenerate by any choice of local coordinates. The situation near

θ =

π

2

is similar.

5

1C Embedded waves

The surface is deﬁned by

x =

cos v

√

2 −sin u

, y =

sin v

√

2 −sin u

, z =

cos u

√

2 −sin u

.

1. For y = 0, we have v = 0 and thus

x =

1

√

2 −sin u

, z =

cos u

√

2 −sinu

.

To visualize this line in the (x, z) plane, we eliminate u from these equations and ﬁnd

sin u =

√

2 −

1

x

,

_

x −

√

2

_

2

+z

2

= 1.

Therefore the line is a circle of radius 1 centered at

_

x =

√

2, z = 0

_

. This circle does not intersect the z axis since

√

2 > 1. Now we see that (x, y) is obtained from

_√

2 −sin u

_

−1

by multiplying with cos v and sin v. Therefore,

the full surface is a rotation surface, where we need to use the x coordinate as the radius. Therefore, the ﬁgure in

the (x, z) plane needs to be rotated around the z axis. The resulting surface is a torus. It may be described by the

equation

_

_

x

2

+y

2

−

√

2

_

2

+z

2

−1 = 0.

Note that

_

x

2

+y

2

=

1

√

2 −sin u

> 0.

Also

_

x

2

+y

2

−

√

2 =

1 −

√

2

_√

2 −sinu

_

√

2 −sin u

=

√

2 sin u −1

√

2 −sin u

.

2. Since the surface is now given by an equation of the form F(x, y, z) = 0, the normal vector (up to a constant factor

C) can be found as

(n

x

, n

y

, n

z

) = C

_

∂F

∂x

,

∂F

∂y

,

∂F

∂z

_

= C

_

2

_

x

2

+y

2

−

√

2

_

x

2

+y

2

x, 2

_

x

2

+y

2

−

√

2

_

x

2

+y

2

y, 2z

_

.

Multiplying by C ≡

1

2

_

x

2

+y

2

(this factor is chosen for simplicity), we have

(n

x

, n

y

, n

z

) =

_

x

_

_

x

2

+y

2

−

√

2

_

, y

_

_

x

2

+y

2

−

√

2

_

, z

_

x

2

+y

2

_

.

Expressed through the coordinates (u, v), this becomes

n

α

= (n

x

, n

y

, n

z

) =

_

cos v

√

2 sin u −1

_√

2 −sinu

_

2

, sin v

√

2 sinu −1

_√

2 −sin u

_

2

,

cos u

_√

2 −sin u

_

2

_

.

The equation of the tangent plane at point x

0

is

n

α

_

x

α

−x

α

(0)

_

= 0,

where n

α

must be computed at x = x

0

.

3. We compute

∂x

∂u

=

cos v cos u

_√

2 −sin u

_

2

,

∂x

∂v

= −

sin v

√

2 −sin u

,

∂y

∂u

=

sin v cos u

_√

2 −sin u

_

2

,

∂y

∂v

=

cos v

√

2 −sin u

,

∂z

∂u

=

1 −

√

2 sin u

_√

2 −sin u

_

2

,

∂z

∂v

= 0.

Now we can expand

dx =

∂x

∂u

du +

∂x

∂v

dv, etc.

6

Therefore the induced metric is

g = dx

2

+dy

2

+dz

2

=

_

_

_

cos u

_√

2 −sinu

_

2

_

2

+

_

1 −

√

2 sin u

_√

2 −sinu

_

2

_

2

_

_

du

2

+

dv

2

_√

2 −sin u

_

2

=

du

2

+dv

2

_√

2 −sin u

_

2

.

The vector V

a

= (cos v, sin v) is not a unit vector because

g(V, V ) =

cos

2

v + sin

2

v

_√

2 −sin u

_

2

=

1

_√

2 −sin u

_

2

,= 1.

The Cartesian components of the vectors ∂/∂u, ∂/∂v are found from

∂

∂u

=

∂x(u, v)

∂u

∂

∂x

+

∂y(u, v)

∂u

∂

∂y

+

∂z(u, v)

∂u

∂

∂z

,

∂

∂v

=

∂x(u, v)

∂v

∂

∂x

+

∂y(u, v)

∂v

∂

∂y

+

∂z(u, v)

∂v

∂

∂z

.

Therefore, the vector V

a

has the following Cartesian components,

V = cos v

_

−

sin v

√

2 −sin u

∂

∂x

+

cos v

√

2 −sin u

∂

∂y

_

+ sin v

_

cos v cos u

_√

2 −sin u

_

2

∂

∂x

+

sin v cos u

_√

2 −sin u

_

2

∂

∂y

+

1 −

√

2 sin u

_√

2 −sin u

_

2

∂

∂z

_

= sinv cos v

_

sin u + cos u −

√

2

_√

2 −sinu

_

2

_

∂

∂x

+

_

sin

2

v cos u +

√

2 cos

2

v −sin u cos

2

v

_√

2 −sin u

_

2

_

∂

∂y

+ sin v

1 −

√

2 sin u

_√

2 −sin u

_

2

∂

∂z

.

This vector is within the tangent plane because n

α

V

α

= 0,

n

α

V

α

= cos v

√

2 sin u −1

_√

2 −sinu

_

2

sin v cos v

_

sinu + cos u −

√

2

_√

2 −sin u

_

2

_

+ sin v

√

2 sinu −1

_√

2 −sin u

_

2

_

sin

2

v cos u +

√

2 cos

2

v −

√

2 sin u cos

2

v

_√

2 −sin u

_

2

_

+

cos u

_√

2 −sin u

_

2

sinv

1 −

√

2 sin u

_√

2 −sin u

_

2

(after simpliﬁcation) = 0.

2 Tensors

2.1 Deﬁnition of tensor product

a),b) A direct calculation using the property

¸

dx

i

, ∂/∂x

k

_

= δ

i

k

gives:

¸ω

1

, v

1

¸ =

_

dx + 2ydy, 3

∂

∂x

_

= 3, etc.

The results:

T(v

1

, v

1

) = 0, T(v

1

, v

2

) = 6x.

c) d) First, show that the sum of two linear functions is again a linear function: If A(x) and B(x) are linear functions,

i.e. if

A(x +λy) = A(x) +λA(y)

and likewise for B, then A+B obviously has the same property. Now, since a tensor is deﬁned as a multi-linear function,

it is clear that tensors form a vector space.

7

2.3 Example of tensor

a) An obvious example of such T is the vector product, T(u, v) = uv, deﬁned in three-dimensional space. To determine

the rank of T, we need to represent T as a multilinear number-valued function of some number of 1-forms and vectors,

e.g. A(f

1

, ..., f

r

, v

1

, ..., v

s

). It is clear that T(v

1

, v

2

) itself is not such a function because it has vector values instead of

scalar (number) values. So we need to add a 1-form to the list of arguments. We can deﬁne

A(f

1

, v

1

, v

2

) = ¸f

1

, T(v

1

, v

2

)¸

and then it’s clear that A is multilinear. Therefore T is a tensor of rank 1+2.

b) The calculation may go as follows. We need to determine the components T

α

βγ

such that

[T(u, v)]

α

= T

α

βγ

u

β

v

γ

.

So we rewrite the given deﬁnition of T(u, v) in the index notation, e.g. like this:

[T(u, v)]

α

= 2ε

α

βγ

u

β

v

γ

−u

α

n

β

v

β

.

Now we would like to move u

β

v

γ

out of the brackets and so determine T

α

βγ

. However, the expression above contains

u

α

v

β

instead of u

β

v

γ

. Therefore we rename the index β to γ and also introduce a Kronecker symbol δ

α

β

, so as to rewrite

identically

u

α

n

β

v

β

= u

β

v

γ

n

γ

δ

α

β

.

Therefore

[T(u, v)]

α

= 2ε

α

βγ

u

β

v

γ

−u

β

v

γ

n

γ

δ

α

β

=

_

2ε

α

βγ

−n

γ

δ

α

β

_

u

β

v

γ

,

T

α

βγ

= 2ε

α

βγ

−n

γ

δ

α

β

.

2.5 Contraction of tensor indices

a) Using the deﬁnition of a tensor as a multilinear function, it is easy to show that linear combinations of tensors are also

multilinear functions. Tensor products and contractions are also multilinear. The arguments are much simpler than the

proof of tensor transformation law for components.

b) Contracting two lower indices, e.g. T

ααβ

, gives components of a quantity which is not a tensor because these

components do not transform correctly under changes of basis. If T

ααβ

were a tensor it would transform as

˜

T

ααγ

=

∂x

λ

∂˜ x

γ

T

µµλ

.

However, this does not agree with the contraction of the tensor T

αβγ

, which transforms as

˜

T

αβγ

=

∂x

λ

∂˜ x

α

∂x

µ

∂˜ x

β

∂x

ν

∂˜ x

γ

T

λµν

.

The contraction over α = β yields

α

˜

T

ααγ

=

α

∂x

λ

∂˜ x

α

∂x

µ

∂˜ x

α

∂x

ν

∂˜ x

γ

T

λµν

,=

∂x

λ

∂˜ x

γ

T

µµλ

.

c) Calculation gives

T

α

αγ

= 2ε

α

αγ

−n

γ

δ

α

α

= −3n

γ

because ε

α

αγ

= 0 and δ

α

α

= 3.

2.8 Examples of spaces with a metric

a) We perform the calculation in components,

g(u, v) = u

α

v

α

− ε

αβγ

ε

α

λµ

u

β

n

γ

v

λ

n

µ

.

We would like to write g(u, v) = g

αβ

u

α

v

β

, where g

αβ

are the components of the metric tensor. Using the known identity

for the ε-symbol,

ε

αβγ

ε

α

λµ

= δ

βλ

δ

γµ

−δ

βµ

δ

γλ

,

we ﬁnd

g(u, v) = u

α

v

α

−(δ

βλ

δ

γµ

−δ

βµ

δ

γλ

) u

β

n

γ

v

λ

n

µ

= u

α

v

α

−u

λ

v

λ

n

µ

n

µ

+u

λ

n

λ

v

µ

n

µ

.

8

Denote n

2

≡ n

µ

n

µ

≡ g(n, n), and then we need to relabel indices such that v

α

u

β

can be moved outside the parentheses.

The result is

g(u, v) =

_

δ

αβ

−n

2

δ

αβ

+n

α

n

β

_

v

α

u

β

.

Therefore

g

αβ

= δ

αβ

−n

2

δ

αβ

+n

α

n

β

.

To analyze the conditions under which det g

αβ

,= 0, we can choose an orthonormal basis such that n

α

is parallel to the

ﬁrst basis vector. Then the components of the vector n in this basis are ([n[ , 0, 0) and the matrix g

αβ

has the following

simple form:

g

αβ

=

_

_

1 0 0

0 1 −n

2

0

0 0 1 −n

2

_

_

.

Then it is clear that det g

αβ

=

_

1 −n

2

_

2

. Therefore, the matrix g

αβ

is nondegenerate if n

2

,= 1.

b) Similar calculations give

g

αβ

=

_

3 +n

2

0

0 3

_

.

Therefore the determinant of g

αβ

is always nonzero.

c) Considerations are analogous to b), except that the size of the matrix g

αβ

is larger.

d) The metric is (dx)

2

+ (dy)

2

+ (dz)

2

, and we need to express dx, dy, dz through du and dv. A calculation gives

g = dx

2

+dy

2

+dz

2

= R

2

_

sinh

2

u + cosh

2

u

_

du

2

+R

2

cosh

2

u dv

2

.

2.9 Supplementary problem sheet

2A Vector equations

a) The equation contains two given vectors A

α

and B

α

. The solution x

α

can be found as a linear combination of A

α

,

B

α

, and the cross product ε

αβγ

A

β

B

γ

with unknown coeﬃcients. Using vector notation, we have

x = αA+βB+ γ (AB) .

Substituting this expression into the given equation,

kx +x A = B,

and using the known identity

(AB) C = B(A C) −A(B C) , (2)

we ﬁnd

A(kα −A B) +B(kβ + A A−1) + (A B) (kγ −β) = 0.

On purpose, we write this equation in the form of linear combination of the three vectors A, B, and A B. Since we

are considering the generic case, these three vectors are independent and so each of the coeﬃcients above must be zero:

kα −A B = 0, kβ +A A−1 = 0, kγ −β = 0.

Solving this system of equations, we ﬁnd (assuming k ,= 0 in the generic case)

α =

A B

k

, β =

1 −A A

k

, γ =

1 −A A

k

2

.

b) We have in vector notation

x A = B, x C = k.

Multiply C:

(x A) C = BC.

Simplify using the identity (2),

A(x C) −x(A C) = kA−x(A C) = BC.

Therefore

x =

kA−BC

A C

.

c), d) The equations have the form x

α

M

α

β

= A

β

, where M

α

β

is a matrix and A

β

is a known vector. The solution is

x = M

−1

A, where M

−1

is the inverse matrix (it exists in the generic case).

9

2B Tensor equations

a) Since the vectors A

α

and B

α

are a basis in two-dimensional space (they are nonzero and orthogonal), then the

symmetric tensor X

αβ

can be written generally as

X

αβ

= fA

α

A

β

+g

_

A

α

B

β

+A

β

A

α

_

+hB

α

B

β

,

where the coeﬃcients f, g, h are unknown. It remains to determine these coeﬃcients. Using A

α

B

α

= 0 and denoting

A

α

A

α

≡ [A[

2

, we get the system of equations

X

αβ

A

α

= B

β

⇒ f [A[

2

A

β

+g [A[

2

B

β

= B

β

,

X

αβ

δ

αβ

= 0 ⇒ f [A[

2

+h[B[

2

= 0.

The result is g = [A[

−2

, f = h = 0, so

X

αβ

=

A

α

B

β

+B

α

A

β

[A[

2

.

b) An antisymmetric tensor X

αβ

in three dimensions can be always expressed as

X

αβ

= ε

αβγ

u

γ

,

where u

γ

is an unknown vector that we need to determine. We can now rewrite the conditions on X

αβ

in a vector form,

X

αβ

A

α

= B

β

⇒ u A = B

X

αβ

B

α

= 0 ⇒ u B = 0

It follows that u is parallel to B and then the condition uA = B leaves the only solution u = 0, and therefore X

αβ

= 0

is the only admissible solution.

2C Degeneracy of the metric

a) The metric can be written in the basis ¦dx, dy¦ as the matrix

g =

_

y

2

1 +x

2

1 +x

2

0

_

.

The determinant of this matrix is −

_

1 +x

2

_

2

which is always nonzero.

b) In the basis where A

α

is parallel to the ﬁrst basis vector, the vector A

α

has components (A, 0, 0, 0, ...) and therefore

the metric g

αβ

has the form

_

_

_

_

_

−r

2

0 0 ...

0 1 0

0 0 1

.

.

.

.

.

.

_

_

_

_

_

.

The metric is degenerate if r = 0 (i.e. at the origin).

3 The Christoﬀel symbol

3.1 Transformations 1

We are considering a ﬂat space where Euclidean coordinates exist. Suppose ¦x

α

¦ and ¦˜ x

α

¦ are two coordinate systems,

while ¦ξ

α

¦ is the standard Euclidean coordinate system. The Christoﬀel symbols are deﬁned as

Γ

µ

αβ

=

∂

2

ξ

ν

∂x

α

∂x

β

∂x

µ

∂ξ

ν

,

˜

Γ

µ

αβ

=

∂

2

ξ

ν

∂˜ x

α

∂˜ x

β

∂˜ x

µ

∂ξ

ν

.

The relationship between

˜

Γ and Γ can be found as follows. Assuming that the functions x

α

(˜ x) and also ˜ x

α

(x) are known,

we may express the partial derivative operators using the chain rule,

∂

∂x

µ

=

∂˜ x

α

∂x

µ

∂

∂˜ x

α

,

∂

∂˜ x

µ

=

∂x

α

∂˜ x

µ

∂

∂x

α

.

10

Also we can express

∂˜ x

µ

∂ξ

ν

=

∂˜ x

µ

∂x

λ

∂x

λ

∂ξ

ν

.

Therefore we can calculate

˜

Γ

µ

αβ

(when Γ

µ

αβ

is known) as follows,

˜

Γ

µ

αβ

=

∂˜ x

µ

∂x

λ

∂x

λ

∂ξ

ν

_

∂x

γ

∂˜ x

α

∂

∂x

γ

__

∂x

δ

∂˜ x

β

∂

∂x

δ

_

ξ

ν

=

∂˜ x

µ

∂x

λ

∂x

λ

∂ξ

ν

_

∂x

γ

∂˜ x

α

∂x

δ

∂˜ x

β

∂

2

ξ

ν

∂x

γ

∂x

δ

+

∂

2

x

δ

∂˜ x

β

∂˜ x

γ

∂ξ

ν

∂x

δ

_

=

∂˜ x

µ

∂x

λ

∂x

γ

∂˜ x

α

∂x

δ

∂˜ x

β

Γ

λ

γδ

+

∂

2

x

δ

∂˜ x

β

∂˜ x

γ

∂˜ x

µ

∂x

λ

∂x

λ

∂ξ

ν

∂ξ

ν

∂x

δ

=

∂˜ x

µ

∂x

λ

∂x

γ

∂˜ x

α

∂x

δ

∂˜ x

β

Γ

λ

γδ

+

∂

2

x

λ

∂˜ x

β

∂˜ x

γ

∂˜ x

µ

∂x

λ

. (3)

Note that the Euclidean coordinate system ξ

ν

is not needed to determine the transformation of Γ.

3.2 Transformations 2

Consider a vector ﬁeld u

µ

. Assume that ∇

ν

u

µ

obeys the correct transformation law for rank (1,1) tensors,

∇

ν

u

µ

=

_

˜

∇

α

˜ u

β

_

∂x

µ

∂˜ x

β

∂˜ x

α

∂x

ν

,

and substitute

∇

ν

u

µ

≡

∂

∂x

ν

u

µ

+ Γ

µ

αν

u

α

,

˜

∇

ν

˜ u

µ

≡

∂

∂˜ x

ν

˜ u

µ

+

˜

Γ

µ

αν

˜ u

α

.

We can now express Γ through

˜

Γ. Note that

∂˜ x

α

∂x

β

∂x

β

∂˜ x

γ

= δ

α

γ

because the matrices are ∂˜ x

α

/∂x

β

and ∂x

β

/∂˜ x

γ

are inverse to each other. The result is

Γ

λ

αβ

=

˜

Γ

µ

νρ

∂˜ x

ν

∂x

α

∂˜ x

ρ

∂x

β

∂x

λ

∂˜ x

µ

+

∂

2

x

λ

∂˜ x

ν

∂˜ x

ρ

∂˜ x

ν

∂x

α

∂˜ x

ρ

∂x

β

.

3.3 Covariant derivatives

The rule is that every upper index gets a +Γ and every lower index gets a −Γ. Each term with Γ replaces one index in

the original tensor by one of the indices in Γ. Therefore we can write the answer as

T

αβ

γδµ;ν

= ∂

ν

T

αβ

γδµ

+ Γ

α

λν

T

λβ

γδµ

+ Γ

β

λν

T

αλ

γδµ

−Γ

λ

γν

T

αβ

λδµ

−Γ

λ

δν

T

αβ

γλµ

−Γ

λ

µν

T

αβ

γδλ

3.4 The Leibnitz rule

Perform an explicit calculation,

A

α;γ

B

β

+A

α

B

β

;γ

= B

β

_

∂

γ

A

α

−Γ

λ

αγ

A

λ

_

+A

α

_

∂

γ

B

β

+ Γ

β

λγ

B

λ

_

;

_

A

α

B

β

_

;γ

= ∂

γ

_

A

α

B

β

_

−Γ

λ

αγ

A

α

B

β

+ Γ

β

λγ

A

α

B

λ

.

This proves the required property.

3.5 Locally inertial reference frame

In this problem (unlike problem 3.1) the coordinate system ¦ξ

α

¦ is not a ﬂat Euclidean coordinate system, but it is just

a coordinate system which is like Euclidean at one point. Now we want to use the formula (3), which will enable us to

compute the Christoﬀel symbol

˜

Γ in the coordinate system ξ, given the Christoﬀel symbol Γ in the original coordinate

system ¦x

α

¦. To use that formula, we need to compute some derivatives. Denoting ¦˜ x

α

¦ ≡ ¦ξ

α

¦, we ﬁnd

∂˜ x

α

∂x

β

= δ

α

β

+

_

x

µ

−x

µ

(0)

_

δ

ν

β

Γ

α

(0)µν

= δ

α

β

+

_

x

µ

−x

µ

(0)

_

Γ

α

(0)µβ

.

11

The inverse derivative, ∂x

α

/∂˜ x

β

, can be found by inverting this matrix; the result can be found simply by assuming that

∂x

α

∂˜ x

β

= δ

α

β

+

_

x

µ

−x

µ

(0)

_

A

α

µβ

+O

_

(x −x

(0)

)

2

_

,

where A

α

µβ

is an unknown matrix. So up to quadratic terms we ﬁnd

∂x

α

∂˜ x

β

= δ

α

β

−

_

x

µ

−x

µ

(0)

_

Γ

α

(0)µβ

+O

_

(x −x

(0)

)

2

_

.

Therefore

∂

2

x

λ

∂˜ x

β

∂˜ x

γ

= −Γ

λ

(0)βγ

+O

_

x −x

(0)

_

.

Finally, we ﬁnd

˜

Γ

µ

αβ

=

∂˜ x

µ

∂x

λ

∂x

γ

∂˜ x

α

∂x

δ

∂˜ x

β

Γ

λ

γδ

+

∂

2

x

λ

∂˜ x

β

∂˜ x

γ

∂˜ x

µ

∂x

λ

= Γ

µ

αβ

−Γ

µ

(0)αβ

+O

_

x −x

(0)

_

.

At x = x

0

we have Γ

µ

αβ

= Γ

µ

(0)αβ

. It follows that the new Christoﬀel symbol is equal to zero at x = x

0

.

Alternatively, one can use the transformation law for the Christoﬀel symbol in the inverse direction, Γ =

˜

Γ... + ...,

i.e. one denotes ¦x

α

¦ ≡ ¦ξ

α

¦, ¦˜ x

α

¦ ≡ ¦x

α

¦. This has the advantage that only derivatives ∂

2

ξ/∂x∂x need to be computed,

and not the derivatives ∂

2

x/∂ξ∂ξ. Since all derivatives only need to be evaluated at x = x

0

, the ﬁrst-order derivatives

∂x/∂ξ at x = x

0

can be found as the inverse matrix to ∂ξ

α

/∂x

β

= δ

α

β

, i.e. ∂x

α

/∂ξ

β

= δ

α

β

. This considerably simpliﬁes

the calculations.

4 Geodesics and curvature

4.1 Geodesics

(a) Note that d/ds is the ordinary (not “covariant”) derivative in the direction of u

α

. The geodesic equation can be

rewritten for the 1-form u

α

as

u

γ

u

α;γ

= 0 =

du

α

ds

−Γ

β

αγ

u

β

u

γ

.

An explicit formula for Γ

β

αγ

yields

Γ

β

αγ

u

β

u

γ

= Γ

β αγ

u

β

u

γ

=

1

2

(g

βα,γ

+g

βγ,α

−g

αγ,β

) u

β

u

γ

.

Note that g

βα,γ

− g

αγ,β

is antisymmetric in (β ↔γ). Therefore these terms will cancel after a contraction with u

β

u

γ

.

The remaining term yields

Γ

β

αγ

u

β

u

γ

=

1

2

g

αβ,γ

u

β

u

γ

.

b) We give two derivations; the ﬁrst one is direct and the second one uses the property (a).

4.1.1 First derivation

Note that

d

ds

_

g

αβ

u

α

u

β

_

= u

γ

_

g

αβ

u

α

u

β

_

,γ

where we must use an ordinary derivative instead of the covariant derivative (according to the deﬁnition of d/ds). So we

ﬁnd

u

γ

_

g

αβ

u

α

u

β

_

,γ

= g

αβ,γ

u

α

u

β

u

γ

+ 2g

αβ

u

α

u

γ

u

β

,γ

.

Now we need to simplify an expression containing u

β

,γ

. By assumption, the derivative of the vector ﬁeld u

α

satisﬁes

d

ds

u

α

+ Γ

α

βγ

u

β

u

γ

= u

γ

u

α

,γ

+ Γ

α

βγ

u

β

u

γ

= 0

= u

γ

u

α

,γ

+

1

2

g

αλ

(g

λµ,γ

+g

λγ,µ

−g

µγ,λ

) u

γ

u

µ

.

Therefore

u

α

u

γ

u

α

,γ

= −

1

2

u

α

g

αλ

(g

λµ,γ

+g

λγ,µ

−g

µγ,λ

) u

γ

u

µ

= −

1

2

u

λ

(g

λµ,γ

+g

λγ,µ

−g

µγ,λ

) u

γ

u

µ

= −

1

2

g

λµ,γ

u

λ

u

µ

u

γ

.

What remains is a straightforward computation:

u

γ

_

g

αβ

u

α

u

β

_

,γ

= g

αβ,γ

u

α

u

β

u

γ

+ 2g

αβ

u

α

u

γ

u

β

,γ

= g

αβ,γ

u

α

u

β

u

γ

−g

λµ,γ

u

λ

u

µ

u

γ

= 0.

12

4.1.2 Second derivation

We write

d

ds

_

g

αβ

u

α

u

β

_

=

d

ds

_

g

αβ

u

α

u

β

_

= u

γ

g

αβ

,γ

u

α

u

β

+ 2g

αβ

u

α,γ

u

β

u

γ

.

Now we need to express u

α,γ

u

γ

≡ du

α

/ds. To do that, we use the property derived in (a),

du

α

ds

=

1

2

g

βγ,α

u

β

u

γ

,

and ﬁnd

d

ds

_

g

αβ

u

α

u

β

_

=

dg

αβ

ds

u

α

u

β

+g

αβ

g

λγ,α

u

λ

u

β

u

γ

=

dg

αβ

ds

u

α

u

β

+

dg

λγ

ds

u

λ

u

γ

.

It remains to express the derivative of g

αβ

through the derivative of g

αβ

. We use the identity

d

ds

_

g

αβ

g

βγ

_

=

d

ds

_

δ

α

γ

_

= 0,

thus

dg

αβ

ds

g

βγ

= −

dg

βγ

ds

g

αβ

⇒

dg

αβ

ds

= −

dg

λµ

ds

g

αλ

g

βµ

.

Therefore

dg

αβ

ds

u

α

u

β

= −

dg

λµ

ds

g

αλ

g

βµ

u

α

u

β

= −

dg

λµ

ds

u

λ

u

µ

,

and thus

d

ds

_

g

αβ

u

α

u

β

_

= 0.

4.2 Commutator of covariant derivatives

First compute

u

α

;β

= u

α

,β

+ Γ

α

βλ

u

λ

,

u

α

;βγ

=

_

u

α

,β

+ Γ

α

βλ

u

λ

_

,γ

+ Γ

α

µγ

_

u

µ

,β

+ Γ

µ

βλ

u

λ

_

−Γ

µ

βγ

_

u

α

,µ

+ Γ

α

µλ

u

λ

_

= u

α

,βγ

+ Γ

α

βλ,γ

u

λ

+ Γ

α

βλ

u

λ

,γ

+ Γ

α

µγ

u

µ

,β

+ Γ

α

µγ

Γ

µ

βλ

u

λ

−Γ

µ

βγ

u

α

;µ

.

Since we want to compute the commutator u

α

;βγ

− u

α

;γβ

, we can omit the terms that are symmetric in (β ↔γ). These

terms are the following:

u

α

,βγ

, Γ

α

βλ

u

λ

,γ

+ Γ

α

µγ

u

µ

,β

, Γ

µ

βγ

u

α

;µ

.

The remaining terms are

u

α

;βγ

= Γ

α

βλ,γ

u

λ

+ Γ

α

µγ

Γ

µ

βλ

u

λ

+ (symmetric in β ↔γ) ,

which yields

u

α

;βγ

−u

α

;γβ

= u

λ

_

Γ

α

λβ,γ

−Γ

α

λγ,β

+ Γ

µ

λβ

Γ

α

γµ

−Γ

µ

λγ

Γ

α

βµ

_

= u

λ

R

α

λγβ

.

4.3 Parallel transport

The parallel-transported vector can be represented by a 1-form A

α

(s) such that

dA

α

ds

−Γ

β

αg

A

β

u

γ

= 0, u

γ

≡

dx

γ

ds

.

However, the closed curve is assumed to cover only a very small neighborhood of one point x

0

, so we can approximate

A

α

by a constant, A

α

(x

0

), along the curve. Therefore

δA

α

=

_

dA

α

ds

ds =

_

Γ

β

αγ

(x)A

β

(x)dx

γ

≈ A

β

(x

0

)

_

Γ

β

αγ

(x)dx

γ

.

Now, in a locally inertial system at x

0

we have Γ

β

αγ

(x

0

) = 0. Therefore we can Taylor expand Γ

β

αγ

(x) near x

0

as

Γ

β

αγ

(x) =

_

x

λ

−x

λ

0

_

Γ

β

αγ,λ

+O

_

(x −x

0

)

2

_

.

Therefore

δA

α

≈ A

β

(x

0

)

_

Γ

β

αγ,λ

_

x

λ

−x

λ

0

_

dx

γ

≈ A

β

(x

0

)Γ

β

αγ,λ

(x

0

)

_

x

λ

dx

γ

,

where we have again approximated Γ

β

αγ,λ

(x) by its value at x = x

0

, and also used the identity

_

dx

γ

= 0. Further,

_

d

_

x

γ

x

λ

_

= 0 =

_

x

γ

dx

λ

+

_

x

λ

dx

γ

.

13

Therefore we may rewrite

δA

α

≈ A

β

Γ

β

αγ,λ

_

x

λ

dx

γ

=

1

2

A

β

_

Γ

β

αγ,λ

−Γ

β

αλ,γ

_

_

x

λ

dx

γ

=

1

2

A

β

R

β

αλγ

_

x

λ

dx

γ

.

4.4 Riemann tensor

a) It is more convenient to consider the fully covariant tensor R

αβγδ

. This tensor has the following symmetries,

R

αβγδ

= −R

βαγδ

= −R

αβδγ

, (4)

R

αβγδ

+R

βγαδ

+R

γαβδ

= 0, (5)

R

αβγδ

= R

γδαβ

. (6)

However, it is known that the property (6) follows from (4)-(5), therefore it is suﬃcient to consider these two properties

[note that (5) does not follow from (4), (6)]. Let us ﬁrst consider the property (4). For ﬁxed γ, δ, we have that R

αβγδ

is an antisymmetric n n matrix (indices α, β). This matrix has

1

2

n(n −1) independent components. Likewise for ﬁxed

α, β. Therefore, the number of independent components of R

αβγδ

is reduced to

N

1

=

_

1

2

n(n −1)

_

2

.

Now we use the property (5). Let us see whether the property (5) is nontrivial at ﬁxed δ. If α = γ, then the property (5)

becomes

R

αβαδ

+R

βααδ

+R

ααβδ

= 0 (no summation),

which is already a consequence of (4). Likewise for β = γ or for α = β. Therefore, the property (5) is a new constraint

only if all three indices α, β, γ are diﬀerent (i.e. α ,= β, α ,= γ, β ,= γ). Suppose that α, β, γ are diﬀerent. There are

N

2

=

1

6

n(n −1)(n −2)

choices of such α, β, γ. Therefore, for each δ = 1, ..., n we obtain N

2

additional constraints. Finally, let us check that

every such constraint is nontrivial for every δ (even if δ is equal to one of α, β, γ). Suppose δ = α, then (5) becomes

R

αβγα

+R

βγαα

+R

γαβα

= 0 (no summation).

This is a nontrivial constraint (equivalent to R

αβαγ

= R

αγαβ

). Therefore, the number of constraints is nN

2

, and thus

the total number of independent components of R

αβγδ

is

N = N1 −nN

2

=

n

2

_

n

2

−1

_

12

.

b) Weinberg, Chapter 6, ¸8

c) There is only one independent component of R

αβγδ

in two dimensions. For instance, we can choose R

1212

as the

independent parameter. Then we can express the Ricci tensor as

R

αβ

= g

λµ

R

λαµβ

.

Calculating component by component, we ﬁnd

R

11

= g

22

R

1212

, R

12

= −g

12

R

1212

, R

22

= g

11

R

1212

,

R = g

αβ

R

αβ

=

_

2g

11

g

22

−2g

12

g

21

_

R

1212

= 2gR

1212

.

Note that the matrix

_

g

22

−g

12

−g

12

g

11

_

is equal to the inverse matrix to g

αβ

(which is g

αβ

), multiplied by the determinant det g

αβ

; since det g

αβ

= 1/g, we have

_

g

22

−g

12

−g

12

g

11

_

= gg

αβ

.

Therefore

G

αβ

= R

αβ

−

1

2

g

αβ

R = gg

αβ

R

1212

−

1

2

g

αβ

2gR

1212

= 0.

14

4.5 Lorentz transformations

A Lorentz transformation is represented by a matrix Λ

α

β

such that

Λ

α

λ

Λ

β

µ

g

αβ

= g

λµ

.

Consider an inﬁnitesimal Lorentz transformation,

Λ

α

λ

= δ

α

λ

+εH

α

λ

.

The number of parameters in Lorentz transformations is the same as the number of parameters in H

α

β

. The condition

for H

α

β

is

(δ

α

λ

+εH

α

λ

)

_

δ

β

µ

+εH

β

µ

_

g

αβ

= g

λµ

.

Disregarding terms of order ε

2

, we ﬁnd

0 = δ

β

µ

H

α

λ

g

αβ

+δ

α

λ

H

β

µ

g

αβ

= H

µλ

+H

λµ

.

Therefore, H

λµ

is an antisymmetric n n matrix, which has

1

2

n(n − 1) independent components. For n = 4 we get 6

components. These can be interpreted as three spatial rotations and three Lorentz rotations (boosts).

5 Gravitation theory applied

5.1 Redshift

In the weak ﬁeld limit, the Newtonian gravitational potential near a mass M is

Φ =

GM

r

,

while the component g

00

of the metric is

g

00

= 1 +

2Φ

c

2

.

(We write the units explicitly.) Therefore the redshift factor z(r) at distance r from the center of the Earth is

z(r) =

_

1 +

2GM

c

2

r

≈ 1 +

GM

c

2

r

.

To compare the redshift factors at the surface of the Earth, denote by R

E

the radius of the Earth. We know that the

gravitational acceleration at the surface is

g

E

=

GM

R

2

E

≈ 9.81

m

s

2

.

Therefore, it is convenient to express GM = g

E

R

2

E

. For a vertical distance L between sender and receiver, we ﬁnd

z(R

E

)

z(R

E

+L)

=

1 +g

E

R

E

c

−2

1 +g

E

R

E

c

−2

RE

RE+L

≈ 1 +

g

E

R

E

c

2

_

1 −

R

E

R

E

+L

_

= 1 +

g

E

R

E

L

c

2

(R

E

+L)

.

Since in our problem L ≪R

E

, we may approximate

z(R

E

)

z(R

E

+L)

≈ 1 +

g

E

L

c

2

≈ 1 + 1.1

L

10

16

m

.

5.2 Energy-momentum tensor 1

In the nonrelativistic limit, we may disregard gravitation; g

αβ

= η

αβ

. The EMT of an ideal ﬂuid is

T

αβ

= −pη

αβ

+ (p +ρ) u

α

u

β

,

where u

α

is the 4-velocity vector of the ﬂuid motion. In the nonrelativistic limit, u

α

≈ (1, v), where v is the 3-vector of

velocity and [v[ ≪1 in the units where c = 1.

The conservation law is

0 = T

αβ

,β

= −p

,α

+ (p +ρ)

,β

u

α

u

β

+ (p +ρ) u

α

u

β

,β

+ (p +ρ) u

α

,β

u

β

.

Let us simplify this expression by introducing the time derivative along the ﬂuid ﬂow,

d

dt

≡ u

α

∂

α

.

15

Then we ﬁnd

0 = −p

,α

+u

α

_

˙ p + ˙ ρ + (p +ρ) u

β

,β

_

+ (p +ρ) ˙ u

α

. (7)

Contracting with u

α

and using u

α

˙ u

α

= 0, we ﬁnd

˙ ρ + (p +ρ) u

β

,β

= 0. (8)

This is the relativistic continuity equation. Using this equation, we ﬁnd from Eq. (7) that

0 = −p

,α

+u

α

˙ p + (p +ρ) ˙ u

α

. (9)

Now let us apply the nonrelativistic limit, u

α

≈ (1, v), to Eqs. (8) and (9). In our notation, for any quantity X we

have

˙

X ≡

d

dt

X ≡

∂

∂t

X + (v ∇) X.

The continuity equation (8) gives

dρ

dt

+ (p +ρ) divv = 0.

This is the ordinary, nonrelativistic continuity equation.

1

Finally, Eq. (9) gives

∇p +v ˙ p + (p +ρ)

˙

v = 0.

(Note that p

,j

= −∇

j

p.) This is the Euler equation,

dv

dt

=

1

p +ρ

_

−

∇p −v

dp

dt

_

.

5.3 Energy-momentum tensor 2

Compute the covariant derivative,

T

αβ

;α

=

_

Φ

;α

Φ

;β

−

1

2

g

αβ

Φ

;λ

Φ

;λ

_

;α

= Φ

;α

;α

Φ

;β

+ Φ

;α

Φ

;β

;α

−g

αβ

Φ

;λ

Φ

;λα

= Φ

;α

;α

Φ

;β

.

Here we used Φ

;αβ

= Φ

;βα

which follows from Γ

λ

αβ

= Γ

λ

βα

(note that Φ is a scalar; covariant derivatives do not commute

when applied to vectors!) and also the property

Φ

;α

;β

X

α

= Φ

;αβ

X

α

,

which is due to g

αβ;µ

= 0. Therefore, we get

Φ

;α

;α

Φ

;β

= 0;

this entails Φ

;α

;α

= 0 (since Φ

;β

= 0 is a weaker condition than Φ

;α

;α

= 0, i.e. if Φ

;β

= 0 then also Φ

;α

;α

= 0, so it is

suﬃcient to write the latter).

5.4 Weak gravity

A very short solution is to write R

00

directly through Γ and note that only Γ

α

00,α

comes in (if we disregard terms of

second order). Then compute Γ

α

00

explicitly through Φ. (Assume that g

αβ,0

= 0.) We may disregard terms of order ΓΓ

because Γ is of order Φ, and also we may raise and lower indices using η

µν

instead of g

µν

. (This is somewhat heuristic;

see below.) The calculation goes like this:

R

00

= Γ

α

00,α

−Γ

α

0α,0

+O( Γ Γ),

Γ

α

00

=

1

2

η

αβ

(g

0β,0

+g

β0,0

−g

00,β

) = −η

αβ

Φ

,β

,

therefore (using Φ

,0

= 0)

R

00

= −η

αβ

Φ

,αβ

= −Φ = −Φ

,00

+ Φ

,11

+ Φ

,22

+ Φ

,33

= ∆Φ.

Here is another, somewhat more comprehensive solution. In the weak ﬁeld limit, we write

g

µν

= η

µν

+h

µν

.

1

Note that in the usual, nonrelativistic continuity equations as they are written in most books, there is no p + ρ - just ρ. This is so

because in most cases the matter is nonrelativistic, so p ≪ρ and p +ρ ≈ ρ. This is, however, not true for relativistic matter, such as photons

(electromagnetic radiation) for which p =

1

3

ρ.

16

Then we only compute everything up to ﬁrst order in h

µν

. Therefore, we may raise and lower indices using the Minkowski

metric η

αβ

instead of g

αβ

.

Note: the Newtonian limit does not determine the components of g

µν

except for g

00

= 1 +2Φ. The actual metric g

µν

is equal to η

µν

plus a small ﬁrst-order deviation, h

µν

, but this deviation cannot be expressed just through the Newtonian

potential Φ ≡

1

2

h

00

. In principle, one needs to solve the full Einstein equations to ﬁnd h

µν

; in other words, one needs to

determine other, “post-Newtonian potentials” and not just the Newtonian potential Φ. However, when one only wants

to compute eﬀects of gravitation on motion of slow bodies, only g

00

is necessary. So it is suﬃcient to compute just the

Newtonian potential Φ. But e.g. trajectories of light rays cannot be computed accurately in the Newtonian limit (because

light does not move slowly). To compute trajectories of light rays, one needs all components of h

µν

, not just h

00

.

Let us do the computation through h

µν

in a more general way. First we compute the Christoﬀel symbol and the Ricci

tensor:

Γ

λ

αν

=

1

2

η

λγ

(h

αγ,ν

+h

νγ,α

−h

αν,γ

) ; ⇒ Γ ∼ O(Φ);

R

αβ

= R

λ

αλβ

= Γ

λ

αβ,λ

−Γ

λ

αλ,β

+ ΓΓ −ΓΓ ≈ Γ

λ

αβ,λ

−Γ

λ

αλ,β

.

(We may disregard the ΓΓ terms since they are second order in Φ.) Now we compute (again up to ﬁrst order in Φ)

Γ

λ

αλ,β

=

1

2

η

λγ

(h

αγ,λβ

+h

λγ,αβ

−h

αλ,γβ

) =

1

2

η

λγ

h

λγ,αβ

,

R

αβ

=

1

2

η

λγ

(h

αγ,βλ

+h

βγ,αλ

−h

αβ,γλ

−h

λγ,αβ

) .

Let us now compute just the component R

00

, recalling that h

µν

is time-independent (so h

µν,0

= 0) and h

00

= 2Φ:

R

00

=

1

2

η

λγ

(h

0γ,0λ

+h

0γ,0λ

− h

00,γλ

−h

λγ,00

) = −

1

2

η

λγ

h

00,γλ

= −η

λγ

Φ

,λγ

= ∆Φ.

5.5 Equations of motion from conservation law

We would like to rewrite the covariant conservation law T

µν

;ν

= 0 through ordinary derivatives. The given relations are

useful; let’s derive them ﬁrst.

∂

∂x

ν

√

−g = −

1

2

√

−g

_

∂

∂x

ν

g

_

= −

1

2

√

−g

_

gg

αβ

g

αβ,ν

_

=

1

2

√

−gg

αβ

g

αβ,ν

;

Γ

µ

µν

=

1

2

g

µα

(g

µα,ν

+g

να,µ

−g

νµ,α

) =

1

2

g

µα

g

µα,ν

=

1

√

−g

∂

∂x

ν

√

−g.

Now rewrite the covariant derivative of T

µν

explicitly:

T

µν

;µ

= T

µν

,µ

+ Γ

µ

αµ

T

αν

+ Γ

ν

αµ

T

µα

=

1

√

−g

_√

−gT

µν

_

,ν

+ Γ

ν

αβ

T

αβ

.

Apply this to the given T

µν

:

0 = T

µν

;µ

=

m

0

√

−g

__

ds

dx

µ

ds

dx

ν

ds

δ

(4)

(x

σ

−x

σ

(s))

_

,µ

+

m

0

√

−g

_

ds

dx

α

ds

dx

β

ds

Γ

ν

αβ

(x)δ

(4)

(x

σ

−x

σ

(s)).

Since in the ﬁrst term the dependence on x

σ

is only through δ

(4)

, we can rewrite

dx

µ

ds

∂

∂x

µ

_

δ

(4)

(x

α

−x

α

(s))

_

= −

d

ds

_

δ

(4)

(x

α

−x

α

(s))

_

(this is easily understood if read from right to left) and then integrate by parts,

_

ds

dx

ν

ds

d

ds

δ

(4)

(x

σ

−x

σ

(s)) = −

_

ds

d

2

x

ν

ds

2

δ

(4)

(x

σ

−x

σ

(s)).

Finally,

0 =

√

−g

m

0

T

µν

;µ

=

_

ds

_

d

2

x

ν

ds

2

+ Γ

ν

αβ

dx

α

ds

dx

β

ds

_

δ

(4)

(x

σ

−x

σ

(s)).

This is a function of x

σ

which should equal zero everywhere. Therefore, the integrand should vanish for every value of s,

d

2

x

ν

ds

2

+ Γ

ν

αβ

dx

α

ds

dx

β

ds

= 0.

17

Remark: in general, equations of motion do not follow from conservation law, but they do follow if there is only one

ﬁeld. (e.g. one ﬂuid, or one scalar ﬁeld, or some number of point particles). The situation in ordinary mechanics is similar:

e.g. the equation of motion for a particle follow from the conservation of energy only if the motion is in one dimension:

E =

mv

2

2

+V (x) = const,

0 =

dE

dt

= (m˙ v +V

′

(x)) v ⇒m˙ v = −V

′

(x).

However, equations of motion do not follow from conservation of energy if there is more than one degree of freedom.

Similarly, equations of motion for say two scalar ﬁelds Φ, Ψ do not follow from the conservation of their combined T

µν

.

These ﬁelds have two diﬀerent equations of motion, and one cannot hope to derive them from a single conservation law.

6 The gravitational ﬁeld

6.1 Degrees of freedom

The electromagnetic ﬁeld is described by a 4-vector potential A

µ

(x). This would give 4 degrees of freedom. However,

there is also a gauge symmetry,

A

µ

→A

µ

+φ

,µ

,

where φ(x) is an arbitrary function of spacetime. Using this gauge symmetry, we may e.g. set the component A

0

(x) = 0.

Then only three functions of spacetime (A

1

, A

2

, A

3

) are left. Hence the electromagnetic ﬁeld has 3 degrees of freedom.

There are additional gauge symmetries involving functions φ(x) that do not depend on time. Since these functions φ(x)

are functions only of three arguments, they do not change the number of degrees of freedom.

6.2 Spherically symmetric spacetime

6.2.1 Straightforward solution

A direct computation listing all the possible Christoﬀel symbols and components of the Ricci tensor is certainly straight-

forward but very long. Here is a way to compute the curvature tensor without writing individual components. Since the

metric has a diagonal form, let us denote

g

αβ

= η

αβ

A

α

, g

αβ

= η

αβ

1

A

α

(no summation!), (10)

where

A

α

≡

_

e

N

, e

L

, r

2

, r

2

sin

2

θ

_

(11)

is a ﬁxed array of four functions. For this calculation, we do not use the Einstein summation convention any more; every

summation will be written explicitly. However, we make heavy use of the fact that η

αβ

,= 0 only if α = β, and that

η

λλ

= η

λλ

. At the end of the calculation of the Ricci tensor R

αβ

, we shall substitute the known functions A

α

and use

the resulting simpliﬁcations.

We begin with the calculation of the Christoﬀel symbols,

Γ

λ

αβ

=

µ

1

2

η

λµ

1

A

λ

[η

αµ

A

µ,β

+η

βµ

A

µ,α

−η

αβ

A

α,µ

]

=

1

2

δ

λ

α

A

λ,β

A

λ

+

1

2

δ

λ

β

A

λ,α

A

λ

−

1

2

η

λλ

η

αβ

A

α,λ

A

λ

. (12)

Note that the summation over µ results in setting λ = µ due to η

λµ

, and that we have relations such as η

λλ

η

αλ

= δ

λ

α

and

δ

β

α

η

αα

= η

αβ

, which hold without summation. For convenience, we rewrite Eq. (12) as

Γ

λ

αβ

=

1

2

_

δ

λ

α

B

λ,β

+δ

λ

β

B

λ,α

−η

λλ

η

αβ

A

α

A

λ

B

α,λ

_

,

where we deﬁned the auxiliary function

B

α

≡ ln A

α

.

As a check, we compute the “trace” of the Christoﬀel symbols and compare with the known formula,

λ

Γ

λ

αλ

=

1

2

_

B

α,α

+

λ

B

λ,α

−

A

α

A

α

B

α,α

_

=

1

2

λ

B

λ,α

=

_

ln

√

−g

_

,α

.

Let us also denote for brevity

C ≡ ln

√

−g =

1

2

λ

B

λ

;

λ

Γ

λ

αλ

= C

,α

.

18

We proceed to the computation of the Ricci tensor. We use the formula (with Landau-Lifshitz sign conventions)

R

αβ

=

λ

_

Γ

λ

αβ,λ

−Γ

λ

αλ,β

_

+

λ,µ

_

Γ

µ

λµ

Γ

λ

αβ

−Γ

λ

αµ

Γ

µ

βλ

_

.

We now compute the necessary terms:

λ

Γ

λ

αβ,λ

=

1

2

B

α,αβ

+

1

2

B

β,αβ

−

1

2

η

αβ

λ

η

λλ

_

A

α

A

λ

B

α,λ

_

,λ

,

λ

Γ

λ

αλ,β

= C

,αβ

,

λ,µ

Γ

µ

λµ

Γ

λ

αβ

=

λ

C

,λ

1

2

_

δ

λ

α

B

λ,β

+

1

2

δ

λ

β

B

λ,α

−

1

2

η

λλ

η

αβ

A

α

A

λ

B

α,λ

_

=

1

2

_

C

,α

B

α,β

+C

,β

B

β,α

−η

αβ

λ

C

,λ

η

λλ

A

α

A

λ

B

α,λ

_

,

λ,µ

Γ

λ

αµ

Γ

µ

λβ

=

1

4

λ,µ

_

δ

λ

α

B

λ,µ

+δ

λ

µ

B

λ,α

−η

λλ

η

αµ

A

α

A

λ

B

α,λ

_ _

δ

µ

λ

B

µ,β

+δ

µ

β

B

µ,λ

−η

µµ

η

λβ

A

λ

A

µ

B

λ,µ

_

=

1

4

µ

B

α,µ

_

δ

µ

α

B

µ,β

+δ

µ

β

B

µ,α

−η

µµ

η

αβ

A

α

A

µ

B

α,µ

_

(here set λ = α)

+

1

4

µ

B

µ,α

_

B

µ,β

+δ

µ

β

B

µ,µ

−η

µµ

η

µβ

A

µ

A

µ

B

µ,µ

_

(here set λ = µ)

−

1

4

λ

η

λλ

η

αα

A

α

A

λ

B

α,λ

_

δ

α

λ

B

α,β

+δ

α

β

B

α,λ

−η

αα

η

λβ

A

λ

A

α

B

λ,α

_

(here set µ = α)

=

1

4

B

α,α

B

α,β

+

1

4

B

α,β

B

β,α

−

1

4

η

αβ

µ

η

µµ

A

α

A

µ

B

α,µ

B

α,µ

+

1

4

µ

B

µ,α

B

µ,β

+

1

4

B

β,α

B

β,β

−

1

4

B

β,α

B

β,β

−

1

4

B

α,α

B

α,β

−

1

4

η

αβ

λ

η

λλ

A

α

A

λ

B

α,λ

B

α,λ

+

1

4

B

α,β

B

β,α

=

1

2

B

α,β

B

β,α

−

1

2

η

αβ

µ

η

µµ

A

α

A

µ

B

α,µ

B

α,µ

+

1

4

µ

B

µ,α

B

µ,β

.

Finally, we put all the terms together:

R

αβ

=

_

1

2

B

α

+

1

2

B

β

− C

_

,αβ

−

1

2

η

αβ

A

α

λ

η

λλ

_

_

B

α,λ

A

λ

_

,λ

+C

,λ

B

α,λ

A

λ

_

+

1

2

C

,α

B

α,β

+

1

2

C

,β

B

β,α

−

1

2

B

α,β

B

β,α

−

1

4

µ

B

µ,α

B

µ,β

.

We can simplify this expression by considering separately diagonal and oﬀ-diagonal components:

R

αα

= (B

α

−C)

,αα

−

1

2

η

αα

A

α

λ

η

λλ

_

_

B

α,λ

A

λ

_

,λ

+C

,λ

B

α,λ

A

λ

_

+

_

C

,α

−

1

2

B

α,α

_

B

α,α

−

1

4

µ

B

µ,α

B

µ,α

;

R

αβ

=

1

2

_

B

α

+B

β

−

λ

B

λ

_

,αβ

+

1

2

(C

,α

B

α,β

+C

,β

B

β,α

−B

α,β

B

β,α

)

−

1

4

µ

B

µ,α

B

µ,β

. (only for α ,= β)

19

Now we need to simplify this expression further by using the speciﬁc form of the metric (10)-(11). We have

A

t

= e

N

, A

r

= e

L

, A

θ

= r

2

, A

φ

= r

2

sin

2

θ;

B

t

= N, B

r

= L, B

θ

= 2 lnr, B

φ

= 2 lnr + 2 ln sin θ;

C = ln

√

−g =

N +L

2

+ 2 lnr + ln sin θ;

C

,t

=

˙

N +

˙

L

2

, C

,r

=

N

′

+L

′

2

+

2

r

, C

,θ

= cot θ, C

,φ

= 0.

Note that the term

1

2

_

B

α

+B

β

−

λ

B

λ

_

,αβ

(13)

always vanishes when α ,= β. We ﬁnd (after some omitted algebra):

R

φφ

=

1

2

r

2

sin

2

θ

λ

η

λλ

_

_

__

ln

_

r

2

sin

2

θ

_¸

,λ

A

λ

_

,λ

+C

,λ

_

ln

_

r

2

sin

2

θ

_¸

,λ

A

λ

_

_

= −r

2

sin

2

θ

__

N

′

−L

′

2r

+

1

r

2

_

e

−L

−

1

r

2

_

;

R

θθ

= 1 −r

2

e

−L

_

N

′

−L

′

2r

+

1

r

2

_

;

R

tφ

= R

rφ

= R

θφ

= R

tθ

= 0;

R

rθ

=

1

2

C

,θ

B

θ,r

−

1

4

B

φ,r

B

φ,θ

=

1

2

cot θ

2

r

−

1

4

2

r

2 cot θ = 0;

R

tr

=

1

2

_

˙

N +

˙

L

2

N

′

+

_

N

′

+L

′

2

+

2

r

_

˙

L −

˙

NL

′

_

−

1

4

˙

NN

′

−

1

4

˙

LL

′

=

˙

L

r

;

R

rr

=

−N

′′

2

+

2

r

2

+N

′

L

′

−N

′

4

+

1

2

e

L−N

_

¨

L +

˙

L −

˙

N

2

˙

L

_

+

1

r

L

′

;

R

tt

=

−

¨

L

2

+

˙

L

˙

N −

˙

L

4

+

1

2

e

N−L

_

N

′′

+

_

N

′

−L

′

2

+

2

r

_

N

′

_

.

Finally, we compute the Ricci scalar,

R =

λ

η

λλ

1

A

λ

R

λλ

= e

−N

_

−

¨

L

2

+

˙

L

˙

N −

˙

L

4

_

+

1

2

e

−L

_

N

′′

+

_

N

′

−L

′

2

+

2

r

_

N

′

_

−e

−L

_

−N

′′

2

+

2

r

2

+N

′

L

′

−N

′

4

+

1

r

L

′

_

−

1

2

e

−N

_

¨

L +

˙

L −

˙

N

2

˙

L

_

−

1

r

2

+e

−L

_

N

′

−L

′

2r

+

1

r

2

_

+

_

N

′

−L

′

2r

+

1

r

2

_

e

−L

−

1

r

2

= e

−N

_

−

¨

L +

˙

L

˙

N −

˙

L

2

_

−e

−L

_

−2

N

′

−L

′

r

−N

′′

+N

′

L

′

−N

′

2

_

−

2

r

2

.

Hence, the nonzero components of the Einstein tensor are

G

tt

= e

N−L

L

′

r

+

e

N

r

2

;

G

tr

=

˙

L

r

;

G

rr

=

2

r

2

+

N

′

r

−

e

L

r

2

;

G

θθ

= −r

2

e

−L

_

−

N

′

−L

′

2r

+

1

r

2

+−

N

′′

2

+N

′

L

′

−N

′

4

_

+r

2

e

−N

2

_

−

¨

L +

˙

L

˙

N −

˙

L

2

_

;

G

φφ

= −

1

2

r

2

sin

2

θ

_

e

−N

_

−

¨

L +

˙

L

˙

N −

˙

L

2

_

−e

−L

_

−

N

′

−L

′

r

+

2

r

2

−N

′′

+N

′

L

′

−N

′

2

_

_

.

20

6.2.2 Solution using conformal transformation

A more clever way to reduce the amount of computation is to notice that the metric g

µν

is simpliﬁed after a conformal

transformation,

g

µν

= r

2

h

µν

= r

2

_

_

_

_

r

−2

e

L

0

−r

−2

e

N

1

0 sin

2

θ

_

_

_

_

.

The metric h

µν

separates into the r −t components and the θ − φ components. We shall ﬁrst compute the Ricci tensor

for the metric h

µν

and then determine how R

αβ

changes under a conformal transformation. The calculation of R

αβ

for

the metric h

µν

is much simpler because h

µν

is a direct (“block”) sum of two metrics deﬁned on 2-dimensional spaces. It

is clear that R

αβ

will also be a direct sum of the corresponding two-dimensional Ricci tensors.

Let us ﬁrst compute the Ricci tensor for a diagonal metric γ

ab

= diag

_

e

A

, e

B

_

in two dimensions; set A ≡ A

1

, B ≡ A

2

,

and indices a, b, c,... range from 1 to 2. For a two-dimensional metric γ

ab

, we know that the Ricci tensor is proportional

to γ

ab

, namely (see Problem 4.4c)

R

ab

=

1

2

γ

ab

R, R ≡ γ

ab

R

ab

= 2 (det γ

ab

) R

1212

.

So it is suﬃcient to compute say R

11

,

R

11

= Γ

a

11,a

−Γ

a

1a,1

+ Γ

a

ba

Γ

b

11

−Γ

b

1a

Γ

a

1b

,

and afterwards we will have

R

ab

= γ

ab

R

11

γ

11

; R = γ

ab

R

ab

= 2

R

11

γ

11

.

The necessary Christoﬀel symbols are found as (no implicit summation from now on!)

Γ

a

1b

=

c

1

2

γ

ac

(γ

1c,b

+ γ

bc,1

−γ

1b,c

) =

1

2

_

A

1,b

δ

a

1

+δ

a

b

A

b,1

−δ

1

b

e

A1−Aa

A

1,a

_

;

Γ

1

12

=

1

2

A

,2

; Γ

2

12

=

1

2

B

,1

;

Γ

a

11

= A

1,1

δ

a

1

−

1

2

e

A1−Aa

A

1,a

; Γ

1

11

=

1

2

A

,1

; Γ

2

11

= −

1

2

e

A−B

A

,2

.

a

Γ

a

ba

=

1

2

∂

b

ln (det γ

cd

) =

1

2

(A

1,b

+A

2,b

) =

1

2

(A +B)

,b

.

Then the component R

11

of the Ricci tensor is

R

11

= Γ

a

11,a

−Γ

a

1a,1

+ Γ

a

ba

Γ

b

11

−Γ

b

1a

Γ

a

1b

= Γ

1

11,1

+ Γ

2

11,2

−

1

2

(A+B)

,11

+

1

2

(A +B)

,1

Γ

1

11

+

1

2

(A +B)

,2

Γ

2

11

−Γ

1

11

Γ

1

11

−2Γ

1

12

Γ

2

11

−Γ

2

12

Γ

2

12

=

1

2

A

,11

−

1

2

_

e

A−B

A

,2

_

,2

−

1

2

(A+B)

,11

+

1

2

(A+ B)

,1

1

2

A

,1

−

1

2

(A +B)

,2

1

2

e

A−B

A

,2

−

1

4

A

,1

A

,1

+ A

,2

1

2

e

A−B

A

,2

−

1

4

B

,1

B

,1

= −

1

2

B

,11

−

1

2

e

A−B

A

,22

−

1

4

A

,2

(A −B)

,2

e

A−B

+

1

4

B

,1

(A−B)

,1

.

We also ﬁnd (note the symmetry apparent in this formula; this shows that at least this is not obviously wrong)

R = 2

R

11

γ

11

= −e

−A

B

,11

−e

−B

A

,22

−

1

2

A

,2

(A −B)

,2

e

−B

−

1

2

e

−A

B

,1

(B −A)

,1

.

Well, we are not going to ﬁnish this calculation here, anyway. But this is roughly how it goes. Let us at

least derive the useful formula below.

The relationship between the curvature tensors under a conformal transformation is found as follows. First we deﬁne

the conformally transformed metric for convenience as follows,

˜ g

αβ

= e

2Ω

g

αβ

.

Then the Christoﬀel symbols receive a correction which is a tensor B

λ

αβ

,

˜

Γ

λ

αβ

= Γ

λ

αβ

+B

λ

αβ

; B

λ

αβ

≡ δ

λ

α

Ω

,β

+δ

λ

β

Ω

,α

−g

αβ

Ω

,λ

.

The Riemann and the Ricci tensors are deﬁned (in Landau-Lifshitz sign convention) by

R

λ

αµβ

= Γ

λ

αβ,µ

−Γ

λ

αµ,β

+ Γ

λ

µν

Γ

ν

αβ

−Γ

λ

βν

Γ

ν

αµ

,

R

αβ

= R

λ

αλβ

= Γ

λ

αβ,λ

−Γ

λ

λα,β

+ Γ

λ

λν

Γ

ν

αβ

−Γ

λ

βν

Γ

ν

αλ

.

21

The same relation holds for

˜

R

λ

αµβ

and R

αβ

through

˜

Γ

λ

αβ

(note that these relations do not involve the metric g

αβ

explicitly).

Therefore

˜

R

λ

αµβ

−R

λ

αµβ

= B

λ

αβ,µ

−B

λ

αµ,β

+B

λ

µν

Γ

ν

αβ

+ Γ

λ

µν

B

ν

αβ

+B

λ

µν

B

ν

αβ

−B

λ

βν

Γ

ν

αµ

−Γ

λ

βν

B

ν

αµ

−B

λ

βν

B

ν

αµ

;

˜

R

αβ

−R

αβ

= B

λ

αβ,λ

−B

λ

λα,β

+B

λ

λν

Γ

ν

αβ

+ Γ

λ

λν

B

ν

αβ

+B

λ

λν

B

ν

αβ

−B

λ

βν

Γ

ν

αλ

−Γ

λ

βν

B

ν

αλ

−B

λ

βν

B

ν

αλ

.

We shall only compute the expression for the Ricci tensor R

αβ

. As a preparation, we compute

B

λ

λα

= δ

λ

λ

Ω

,α

≡ NΩ

,α

,

where N = δ

λ

λ

= g

αβ

g

αβ

is the number of spacetime dimensions. We shall always raise and lower indices using the original

metric g

αβ

. So we compute term by term,

˜

R

αβ

−R

αβ

=

_

δ

λ

α

Ω

,β

+δ

λ

β

Ω

,α

−g

αβ

Ω

,λ

_

,λ

−NΩ

,αβ

+NΩ

,ν

Γ

ν

αβ

+ Γ

λ

λν

_

δ

ν

α

Ω

,β

+δ

ν

β

Ω

,α

−g

αβ

Ω

,ν

_

+NΩ

,ν

_

δ

ν

α

Ω

,β

+δ

ν

β

Ω

,α

−g

αβ

Ω

,ν

_

−

_

δ

λ

β

Ω

,ν

+δ

λ

ν

Ω

,β

− g

βν

Ω

,λ

_

Γ

ν

αλ

−Γ

λ

βν

(δ

ν

α

Ω

,λ

+δ

ν

λ

Ω

,α

−g

αλ

Ω

,ν

) −

_

δ

λ

β

Ω

,ν

+δ

λ

ν

Ω

,β

−g

βν

Ω

,λ

_

(δ

ν

α

Ω

,λ

+δ

ν

λ

Ω

,α

−g

αλ

Ω

,ν

)

= 2Ω

,αβ

−g

αβ

Ω

,λ

,λ

−g

αβ,λ

Ω

,λ

−NΩ

,αβ

+NΩ

,ν

Γ

ν

αβ

+ Γ

λ

λα

Ω

,β

+ Γ

λ

λβ

Ω

,α

−g

αβ

Γ

λ

λν

Ω

,ν

+ 2NΩ

,α

Ω

,β

−Ng

αβ

Ω

,ν

Ω

,ν

−Γ

ν

αβ

Ω

,ν

−Γ

λ

λα

Ω

,β

+g

βν

Γ

ν

αλ

Ω

,λ

− Γ

λ

αβ

Ω

,λ

−Γ

λ

λβ

Ω

,α

+g

αλ

Γ

λ

βν

Ω

,ν

−(2 +N) Ω

,α

Ω

,β

+ 2g

αβ

Ω

,λ

Ω

,λ

= −g

αβ

Ω

,λ

,λ

−g

αβ

Γ

λ

λν

Ω

,ν

− Ng

αβ

Ω

,ν

Ω

,ν

+ 2g

αβ

Ω

,λ

Ω

,λ

= −(N −2)

_

Ω

,αβ

−Ω

,ν

Γ

ν

αβ

¸

+ (N −2) Ω

,α

Ω

,β

−g

αβ

_

(N −2) Ω

,λ

Ω

,λ

+ Ω

,λ

,λ

+ Γ

λ

λν

Ω

,ν

_

+

_

g

βν

Γ

ν

αλ

Ω

,λ

+g

αν

Γ

ν

βλ

Ω

,λ

−g

αβ,λ

Ω

,λ

¸

.

Now we note that some of the Γ terms can be absorbed into covariant derivatives, and also that the terms in the last

bracket cancel,

_

g

βν

Γ

ν

αλ

Ω

,λ

+g

αν

Γ

ν

βλ

Ω

,λ

−g

αβ,λ

Ω

,λ

¸

= 0,

so the resulting formula can be written more concisely as

˜

R

αβ

−R

αβ

= (N −2) [Ω

,α

Ω

,β

−Ω

;αβ

] −g

αβ

_

(N −2) Ω

,λ

Ω

,λ

+ Ω

;λ

;λ

¸

.

The modiﬁed Ricci scalar is

˜

R = ˜ g

αβ

˜

R

αβ

= e

−2Ω

g

αβ

R

αβ

+e

−2Ω

g

αβ

_

(N −2) [Ω

,α

Ω

,β

−Ω

;αβ

] −g

αβ

_

(N −2) Ω

,λ

Ω

,λ

+ Ω

;λ

;λ

¸_

= e

−2Ω

R +e

−2Ω

_

(N −2) [Ω

,α

Ω

,α

−Ω

;α

;α

] −N

_

(N −2) Ω

,λ

Ω

,λ

+ Ω

;λ

;λ

¸_

= e

−2Ω

¦R − (N −2) (N −1) Ω

,α

Ω

,α

−2 (N −1) Ω

;α

;α

¦ .

The Einstein tensor is modiﬁed as follows,

˜

G

αβ

=

˜

R

αβ

−

1

2

˜ g

αβ

˜

R = R

αβ

+ (N −2) [Ω

,α

Ω

,β

−Ω

;αβ

] −g

αβ

_

(N −2) Ω

,λ

Ω

,λ

+ Ω

;λ

;λ

¸

−

1

2

g

αβ

[R −(N −2) (N −1) Ω

,α

Ω

,α

−2 (N −1) Ω

;α

;α

]

= G

αβ

+ (N −2) [Ω

,α

Ω

,β

−Ω

;αβ

] +g

αβ

_

(N −2) (N −3)

2

Ω

,α

Ω

,α

+ (N −2) Ω

;α

;α

_

.

Note that there is no change in G

αβ

in two dimensions (since the Einstein tensor is always equal to zero).

6.3 Equations of motion

The equation for the covariant component u

1

(s) is

du

1

ds

−

1

2

u

α

u

β

∂

∂r

(g

αβ

) = 0.

Using the metric g

αβ

= diag

_

f, −1/f, −r

2

, −r

2

sin

2

θ

_

, where f ≡ 1 −r

g

/r, and u

α

=

_

˙

t, ˙ r,

˙

θ,

˙

φ

_

, where ˙ ≡ d/dλ, we ﬁnd

d

dλ

_

−f

−1

˙ r

_

−

1

2

_

df

dr

˙

t

2

−

d

dr

_

1

f

_

˙ r

2

−2r

˙

θ

2

−2r

˙

φ

2

sin

2

θ

_

= 0. (14)

To derive this equation from other equations given in the lecture, we transform in a clever way the expression

0 =

d

dλ

/ =

d

dλ

_

f

˙

t

2

−f

−1

˙ r

2

−r

2

˙

θ

2

−r

2

˙

φ

2

sin

2

θ

_

.

22

Namely, we try to separate terms of the form

d

dλ

(u

α

) out of the terms of the form

d

dλ

(u

α

u

α

) in the following way,

d

dλ

_

u

1

u

1

_

=

d

dλ

_

g

11

u

1

u

1

_

= 2u

1

d

dλ

_

g

11

u

1

_

−u

1

u

1

d

dλ

g

11

(no summation!).

For example,

d

dλ

_

f

˙

t

2

_

= 2

˙

t

d

dλ

_

f

˙

t

_

−

˙

t

2

d

dλ

f, etc.

We ﬁnd

0 =

d

dλ

/ =

d

dλ

_

f

˙

t

2

−f

−1

˙ r

2

−r

2

˙

θ

2

−r

2

sin

2

θ

˙

φ

2

_

= 2

˙

t

d

dλ

_

f

˙

t

_

−

˙

t

2

df

dλ

−2 ˙ r

d

dλ

_

f

−1

˙ r

_

+ ˙ r

2

d

dλ

f

−1

−2

˙

θ

d

dλ

_

r

2

˙

θ

_

+

˙

θ

2

d

dλ

_

r

2

_

−2

˙

φ

d

dλ

_

r

2

sin

2

θ

˙

φ

_

+

˙

φ

2

d

dλ

_

r

2

sin

2

θ

_

.

Now we substitute the given equations (2)-(4), and also evaluate derivatives of the metric, e.g. df/dλ = f

′

˙ r, so

0 = −

˙

t

2

f

′

˙ r −2 ˙ r

d

dλ

_

f

−1

˙ r

_

− ˙ r

2

f

′

f

2

˙ r −2

˙

θr

2

˙

φ

2

sin θ cos θ +

˙

θ

2

2r ˙ r +

˙

φ

2

2r sin

2

θ ˙ r + 2

˙

φ

2

r

2

˙

θ sinθ cos θ

= ˙ r

_

d

dλ

_

−2f

−1

˙ r

_

−f

′

˙

t

2

−

f

′

f

2

˙ r

2

+ 2r

˙

θ

2

+ 2r

˙

φ

2

sin

2

θ

_

.

This is obviously equivalent to Eq. (14).

Note: the reason one of the equations follows from other equations is that the equation u

α

u

α

= const is a consequence

of the four geodesic equations, u

β

u

α

;β

= 0, and the fact that g

αβ;µ

= 0. Therefore, when we consider the four geodesic

equations and the equation u

α

u

α

= const, any one of these ﬁve equations is a consequence of four others.

7 Weak gravitational ﬁelds

7.1 Gravitational bending of light

In the lecture it was shown that the trajectory of a light ray in polar coordinates satisﬁes the equation

d

2

dφ

2

_

1

r

_

+

1

r

=

3

2

r

g

r

2

, r

g

≡

2GM

c

2

≈ 3km,

where M is the mass of the Sun. Introduce an auxiliary variable v(φ) ≡ r

−1

and solve the equation

v

′′

+v =

3

2

r

g

v

2

perturbatively, assuming that v is small,

v(φ) = v

0

(φ) +v

1

(φ) +...

The unperturbed solution is

v

0

(φ) =

1

R

0

cos φ,

where R

0

is the distance of closest approach to the Sun. Then

v

′′

1

+v

1

=

3

2

r

g

R

2

0

cos

2

φ =

3

4

r

g

R

2

0

(1 + cos 2φ) .

The solution is found with undetermined coeﬃcients,

v

1

(φ) = A+Bcos 2φ, A =

3

4

r

g

R

2

0

, B = −

1

4

r

g

R

2

0

.

The total deﬂection angle is found as δ = φ

1

−φ

2

−π, where φ

1,2

are ﬁxed by the condition v(φ) = 0. We ﬁnd a quadratic

equation

cos

2

φ −

2R

0

r

g

cos φ −2 = 0, cos φ =

R

0

r

g

±

¸

R

2

0

r

2

g

+ 2.

Only the solution with the minus sign is meaningful (cos φ < 1). Since r

g

≪R

0

, we may expand this in Taylor series and

ﬁnd

cos φ ≈ −

r

g

R

0

+O(r

3

g

/R

3

0

).

23

Therefore, the angle φ is very close to π/2,

φ

1,2

= ±

_

π

2

+ε

_

, ε ≈

r

g

R

0

, ⇒ δ = 2ε =

2r

g

R

0

.

This formula can be rewritten as

δ =

2r

g

/R

⊙

R

0

/R

⊙

=

_

2r

g

R

⊙

_

R

⊙

R

0

.

For the Sun we have R

⊙

= 6, 96 10

5

km and r

g

= 2, 954 km, therefore

2r

g

/R

⊙

= 8, 489 10

−6

=

__

8, 489 10

−6

360

◦

/2π

¸

3600

¸

[arc seconds]

= 1, 751”

(see R. Oloﬀ “Geometrie der Raumzeit,” 2nd German edition, page 151).

7.2 Einstein tensor for weak ﬁeld

For this problem Chapter 4 from the book Norbert Straumann “General Relativity and Relativistic Astrophysics” is

useful. We have g

µν

= η

µν

+h

µν

and

R

µν

= Γ

λ

µν,λ

−Γ

λ

λµ,ν

,

where (...)

,µ

denotes a derivative ∂

µ

(...). Here one can ask the students about the symmetry of this tensor.

Furthermore

Γ

α

µν

=

1

2

η

αβ

[h

µβ,ν

+h

νβ,µ

−h

µν,β

] =

1

2

_

h

α

µ,ν

+h

α

ν,µ

−h

,α

µν

¸

, (15)

where as usual we use the convention that indices are raised or lowered with η

µν

; thus e.g. h

α

β

≡ η

αλ

h

λβ

. Using Eq. (15)

we have

R

µν

=

1

2

_

h

λ

µ,νλ

+h

λ

ν,µλ

−h

µν

−h

,µν

¸

,

where = η

µν

∂

µ

∂

ν

and h = h

λ

λ

= η

λα

h

αλ

. And for the Ricci scalar we obtain

R = η

µν

R

µν

= h

λν

,νλ

−h.

Thus in the linear approximation we have

G

µν

= R

µν

−

1

2

η

µν

R =

1

2

_

h

λ

µ,νλ

+h

λ

ν,µλ

−h

µν

−h

,µν

−η

µν

h

λβ

,βλ

+η

µν

h

_

.

Let us introduce a new variable γ

µν

≡ h

µν

−

1

2

η

µν

h. The traces of two tensors h and γ are related by γ = −h, thus

h

µν

≡ γ

µν

−

1

2

η

µν

γ. Inserting the last expression for h

µν

in G

µν

, we have

G

µν

=

1

2

_

γ

λ

µ,νλ

+γ

λ

ν,µλ

−γ

µν

−η

µν

γ

λβ

,βλ

_

=

=

1

2

_

γ

,λ

µλ,ν

+γ

,λ

νλ,µ

−γ

µν

−η

µν

γ

,λβ

βλ

_

,

or ﬁnally

G

µ

ν

=

1

2

_

γ

µ,λ

λ,ν

+γ

λ,µ

ν,λ

−γ

µ

ν

−δ

µ

ν

γ

β,λ

λ,β

_

.

7.3 Gravitational perturbations I

The metric is written as g

µν

= η

µν

+δg

µν

, i.e.

g

00

= 1 + 2Φ, g

0i

= B

,i

+S

i

, g

ij

= −δ

ij

+ 2Ψδ

ij

+ 2E

,ij

+F

i,j

+F

j,i

+h

ij

, (16)

where S

,i

i

= F

,i

i

= h

,i

ij

= h

ij

η

ij

= 0, h

ij

= h

ji

. We shall use the formula for G

µ

ν

derived in Problem 7.2. All 3-dimensional

indices are raised and lowered using δ

ij

, so we can write these indices in any position, as convenient:

δg

0

j

= δg

0j

= −δg

j

0

, δg

j

i

= −δg

ij

.

Also note that for any quantity X we have

X

,j

=

_

˙

X, −X

,j

_

.

We need to write the components of

γ

µ

ν

= δg

µ

ν

−

1

2

δ

µ

ν

¯

h,

¯

h ≡ δg

µ

µ

,

24

using the 3+1 decomposition:

¯

h = δg

µ

µ

= η

µν

δg

µν

= 2 (Φ −3Ψ−∆E) ,

γ

0

0

= Φ + 3Ψ+ ∆E, γ

0

j

= B

,j

+S

j

= −γ

j

0

= γ

0j

,

γ

i

j

= −(Φ −Ψ−∆E) δ

ij

−2E

,ij

−F

i,j

−F

j,i

−h

ij

= γ

j

i

.

Now we compute

γ

0,λ

λ

= ˙ γ

0

0

−γ

0

j,j

=

˙

Φ + 3

˙

Ψ + ∆

_

˙

E −B

_

;

γ

j,λ

λ

= −γ

λ

j,λ

= −˙ γ

0j

−γ

j

i,i

= −

˙

B

,j

−

˙

S

j

−(−(Φ −Ψ−∆E) δ

ij

−2E

,ij

−F

i,j

−F

j,i

−h

ij

)

,i

= −

˙

B

,j

−

˙

S

j

+ (Φ −Ψ + ∆E)

,j

+ ∆F

j

;

γ

β,λ

λ,β

=

_

γ

0,λ

λ

_

,0

+

_

γ

j,λ

λ

_

,j

=

¨

Φ + 3

¨

Ψ+ ∆

_

¨

E −

˙

B

_

+

_

−

˙

B

,j

−

˙

S

j

+ (Φ −Ψ + ∆E)

,j

+ ∆F

j

_

,j

=

¨

Φ + 3

¨

Ψ + ∆

¨

E −2∆

˙

B + ∆(Φ −Ψ + ∆E) .

Then we compute each component of G

µ

ν

separately:

2G

0

0

= 2γ

0,λ

λ,0

−γ

0

0

−δ

0

0

γ

β,λ

λ,β

= 2

_

¨

Φ + 3

¨

Ψ+ ∆

_

¨

E −

˙

B

__

−∂

0

∂

0

(Φ + 3Ψ + ∆E) + ∆(Φ + 3Ψ+ ∆E)

−

_

¨

Φ + 3

¨

Ψ+ ∆

¨

E

_

+ 2∆

˙

B −∆(Φ −Ψ + ∆E)

= 4∆Ψ;

2G

0

j

= γ

0,λ

λ,j

+γ

λ,0

j,λ

−γ

0

j

−δ

0

j

γ

β,λ

λ,β

=

_

˙

Φ + 3

˙

Ψ + ∆

_

˙

E −B

__

,j

−

∗

_

−

¨

B

,j

−

¨

S

j

+

_

˙

Φ −

˙

Ψ + ∆

˙

E

_

,j

+ ∆

˙

F

j

_

−

_

¨

B

,j

+

¨

S

j

_

+ ∆(B

,j

+S

j

) = 4

˙

Ψ

,j

+ ∆S

j

−∆

˙

F

j

,

2G

i

j

= γ

i,λ

λ,j

+γ

j,λ

λ,i

−γ

i

j

−δ

i

j

γ

β,λ

λ,β

=

_

−

˙

B

,j

−

˙

S

j

+ (Φ −Ψ + ∆E)

,j

+ ∆F

j

_

,i

+

_

−

˙

B

,i

−

˙

S

i

+ (Φ −Ψ + ∆E)

,i

+ ∆F

i

_

,j

+((Φ −Ψ−∆E) δ

ij

+ 2E

,ij

+F

i,j

+F

j,i

+h

ij

) −δ

ij

_

¨

Φ + 3

¨

Ψ + ∆

¨

E −2∆

˙

B + ∆(Φ −Ψ + ∆E)

_

= 2

_

Φ −Ψ−

˙

B +

¨

E

_

,ij

+

¨

F

i,j

+

¨

F

j,i

−

˙

S

i,j

−

˙

S

j,i

+h

ij

−2δ

ij

_

2

¨

Ψ+ ∆

_

Φ −Ψ−

˙

B +

¨

E

__

.

* - the origin of the minus sign here is γ

λ,0

j,λ

= −γ

j,λ

λ,0

.

7.4 Gravitational perturbations II

Under an inﬁnitesimal transformation x

µ

→x

µ

+ξ

µ

, the metric changes as

g

αβ

→g

αβ

−g

αγ

ξ

γ

,β

−g

βγ

ξ

γ

,α

= g

αβ

−ξ

α,β

−ξ

β,α

. (17)

(This can be easily found from the standard formula for the change of coordinages, involving ∂˜ x

µ

/∂x

ν

.) Now let

us write Eq. (17) in full, using the perturbation variables (16), the covariant components ξ

µ

, and the decomposition

ξ

µ

=

_

ξ

0

, ξ

⊥i

+ζ

,i

_

. We can write the transformation of g

αβ

component by component using the 3+1 decomposition, and

we use the fact that the background metric is diagonal,

g

00

→g

00

−2ξ

0

,0

; g

0i

→g

0i

−ξ

0

,i

−ξ

i,0

; g

ij

→g

ij

−ξ

i,j

−ξ

j,i

.

To simplify calculations, we adopt the convention of raising and lowering the spatial indices i, j, ... by the Euclidean

spatial metric δ

ij

rather than by η

ij

. This will get rid of some minus signs. We also denote ∂

0

≡ ∂

t

by the overdot. Thus

we have

g

00

→g

00

−2

˙

ξ

0

; g

0i

→g

0i

−ξ

0

,i

−

˙

ξ

i

; g

ij

→g

ij

− ξ

i,j

−ξ

j,i

.

Substituting the perturbation variables from Eq. (16), we get

Φ →Φ −

˙

ξ

0

, (18)

B

,i

+S

i

→B

,i

+S

i

−ξ

0

,i

−

˙

ξ

⊥i

−

˙

ζ

,i

, (19)

2Ψδ

ij

+ 2E

,ij

+F

i,j

+F

j,i

+h

ij

→2Ψδ

ij

+ 2E

,ij

+F

i,j

+F

j,i

+h

ij

−ξ

⊥i,j

−ξ

⊥j,i

−2ζ

,ij

. (20)

Now we need to separate these equations and derive the transformation laws for the individual perturbation variables.

This is easy to do if we perform a Fourier transform of Eqs. (18)-(20) and pass to the Fourier space (where every variable

is a function of a 3-vector k). A vector V

i

is decomposed into scalar and vector components as follows,

V

j

= ik

j

V

(S)

+V

(V )

j

; V

(S)

≡

V

l

k

l

k

2

, V

(V )

j

≡ V

j

−ik

j

V

l

k

l

k

2

= V

j

−ik

j

V

(S)

. (21)

25

The idea is ﬁrst, to project the given vector V

i

(k) onto the direction of k

i

, and second, to subtract the projection from

V

i

and to obtain the component of V

i

which is transversal to k

i

. The imaginary unit factors are added as coeﬃcients at

k

j

for convenience: with these factors, the decomposition (21) translates to real space as

V

j

= ∂

j

V

(S)

+V

(V )

j

.

The same procedure applied to a symmetric tensor T

ij

leads to a decomposition into scalar, vector, and tensor

components. Let us go through this procedure in more detail. First, we subtract the trace and obtain the traceless part

T

(1)

of the tensor T,

T

(1)

ij

≡ T

ij

−

1

3

δ

ij

T

ll

; T

(1)

ii

= 0.

Note the coeﬃcient

1

3

that depends on the number of spatial dimensions (three). Now we project T

(1)

ij

onto k

i

k

j

and

obtain the scalar component T

(S)

proportional to k

i

k

j

and the tensor T

(2)

ij

orthogonal to k

i

k

j

:

T

(1)

ij

≡

_

−k

i

k

j

+

1

3

δ

ij

k

2

_

T

(S)

+T

(2)

ij

; T

(S)

≡ −

3

2

k

i

k

j

T

(1)

ij

k

4

; T

(2)

ij

k

i

k

j

= 0.

Note that T

(2)

ij

is again a trace-free tensor, T

(2)

ii

= 0, due to the subtraction of

1

3

k

2

δ

ij

in the ﬁrst term. Finally, we project

T

(2)

ij

onto k

i

and k

j

separately, to obtain a “vector” part T

(V )

j

such that T

(V )

j

k

j

= 0, and a completely traceless (“tensor”)

part T

(T)

ij

such that T

(T)

ij

k

j

= 0 and T

(T)

ii

= 0:

T

(2)

ij

= ik

i

T

(V )

j

+ ik

j

T

(V )

i

+T

(T)

ij

; T

(V )

j

≡ i

k

l

k

2

T

(2)

jl

, T

(T)

ij

≡ T

(2)

ij

−i

_

k

i

T

(V )

j

+k

j

T

(V )

i

_

.

In real space, the full decomposition is

T

ij

=

1

3

T

ll

δ

ij

+

_

∂

i

∂

j

−

1

3

δ

ij

∆

_

T

(S)

+∂

i

T

(V )

j

+∂

j

T

(V )

i

+T

(T)

ij

.

T

(S)

≡

3

2

1

∆

2

∂

i

∂

j

_

T

ij

−

1

3

T

ll

δ

ij

_

; T

(2)

ij

≡

_

T

ij

−

1

3

T

ll

δ

ij

_

−

_

∂

i

∂

j

−

1

3

δ

ij

∆

_

T

(S)

;

T

(V )

j

=

1

∆

∂

i

T

(2)

ij

, T

(T)

ij

= T

(2)

ij

−∂

i

T

(V )

j

−∂

j

T

(V )

i

.

It may be convenient to gather the “trace” terms (the terms containing δ

ij

) as one term,

T

ij

= T

(tr)

δ

ij

+∂

i

∂

j

T

(S)

+∂

i

T

(V )

j

+∂

j

T

(V )

i

+T

(T)

ij

, T

(tr)

≡

1

3

T

ll

−

1

3

∆T

(S)

.

Note that the perturbation variables Ψ, E, F

i

, h

ij

are obtained by this decomposition method, starting from the

symmetric perturbation tensor δg

ij

, with slight modiﬁcations: there are some cosmetic factors of 2 and some minus signs.

Applying the decomposition method to Eqs. (18)-(20), we get the following transformation laws for the perturbation

variables,

Φ →Φ −

˙

ξ

0

, B →B −ξ

0

−

˙

ζ, S

i

→S

i

−

˙

ξ

⊥i

,

E →E −ζ, Ψ →Ψ, F

i

→F

i

−ξ

⊥i

, h

ij

→h

ij

.

Remarks:

1. It is clear that one can set F

i

= 0, B = E = 0 with a coordinate transformation. Other components will then show

whether the geometry is really perturbed or it’s just a coordinate transformation of a ﬂat space. In general, there will

remain 6 independent components of perturbations (Φ, Ψ, S

i

, h

ij

).

2. These considerations depend rather crucially on the silently made assumption that all the metric perturbations

vanish, δg

µν

→0, at spatial inﬁnity. These boundary conditions are implicitly used when deﬁning the Fourier transforms

necessary for the tensor/vector/scalar decompositions (a Fourier transform is undeﬁned without this boundary condition).

Alternatively, one may do without Fourier transforms but then one still needs boundary conditions to solve the relevant

Poisson equations for components. Without boundary conditions, there is no unique decomposition of the form

X

i

= A

,i

+B

i

, A =

1

∆

X

i,i

,

because the function A is deﬁned up to solutions of ∆A = 0. So the tensor/vector/scalar decomposition is actually

undeﬁned without a ﬁxed assumption about the boundary conditions. The boundary conditions δg

µν

→ 0 at spatial

inﬁnity is a natural, physically motivated set of boundary conditions. An explicit counterexample where these boundary

conditions are not satisﬁed: g

µν

= diag (A, −B, −B, −B), where A ,= 1, B ,= 1 are constants. This metric is ﬂat

but one cannot see this by using the perturbation formalism! (The component Ψ ,= 0 cannot be removed by a gauge

transformation.) The reason is that this g

µν

is a “perturbation” of ﬂat metric with Φ and Ψ that do not decay to zero at

spatial inﬁnity. So a coordinate transformation with ξ

µ

decaying to zero cannot bring this metric to η

µν

.

26

8 Gravitational radiation I

8.1 Gauge invariant variables

Using the equations derived in Problem 7.4, it is very easy to verify that D = Φ −Ψ −

˙

B +

¨

E and S

i

−

˙

F

i

are invariant

under inﬁnitesimal changes of coordinates (i.e. invariant under inﬁnitesimal gauge transformations).

8.2 Detecting gravitational waves

8.2.1 Using distances between particles

(This solution follows Hobson-Efstathiou-Lasenby [2006], ¸18.4.)

Consider a plane wave moving in the z direction, (all other components of h

µν

are zero)

h

xx

= −h

yy

= A

+

e

−iω(t−z)

, h

xy

= h

yx

= A

×

e

−iω(t−z)

. (22)

To detect the presence of this gravitational wave, let us imagine a cloud of particles initially at rest at diﬀerent positions.

The 4-vectors describing the particles are u

µ

= (1, 0, 0, 0), so one can easily see that these particles move along geodesics:

u

ν

u

µ

;ν

= u

ν

u

µ

,ν

+ Γ

µ

να

u

ν

u

α

= Γ

µ

00

,

Γ

µ

να

=

1

2

η

λµ

(h

λν,α

+h

λα,ν

−h

αν,λ

) ,

Γ

µ

00

=

1

2

η

λµ

(h

λ0,0

+h

λ0,0

−h

00,λ

) = 0.

Therefore the coordinates x

µ

of each particle remain constant with time. However, the distance between each pair of

particles is determined through the spacelike vector ∆x

µ

≡ x

µ

(1)

−x

µ

(2)

as

∆L

2

≈ (η

µν

+h

µν

) ∆x

µ

∆x

ν

and will change with time because of the dependence on h

µν

. Since the only nonzero components of h

µν

are the x, y

components, it is clear that only changing lengths are between particles that have some separation in the x, y directions.

Therefore it is suﬃcient to consider a ring of particles situated in the x − y plane. The physically measured distances

between the particles in the ring will change with time, i.e. the ring will experience a deformation.

To visualize the deformation, it is convenient to make a local coordinate transformation (local in the neighborhood

of the ring) such that the metric becomes ﬂat, g

µν

x

µ

x

ν

= η

µν

˜ x

µ

˜ x

ν

(up to second-order terms). The trick that performs

this transformation is the following,

˜ x

µ

= x

µ

+

1

2

h

µ

λ

x

λ

≡ x

µ

+

1

2

h

αλ

x

λ

η

αµ

.

It is easy to check that

g

µν

x

µ

x

ν

≡ (η

µν

+h

µν

) x

µ

x

ν

= η

µν

˜ x

µ

˜ x

ν

+O(h

2

).

Therefore, ˜ x

µ

can be understood as the (approximate) Cartesian coordinates where the length is given by the usual

Pythagorean formula. Now if we compute the shape of the ring in these coordinates, it will be easy to interpret this

shape in a straightforward way.

Consider a particle with constant 3-coordinates (x, y, z). After the coordinate transformation, we have

˜ x = x +

1

2

(A

+

x +A

×

y) e

−iω(t−z)

,

˜ y = y +

1

2

(A

×

x −A

+

y) e

−iω(t−z)

,

˜ z = z.

To visualize the deformation, it is convenient to consider ﬁrst the case A

+

,= 0, A

×

= 0 and then the opposite case.

The deformation of the ring is squeezing in one direction and expansion in the orthogonal direction. It follows that A

+

describes a deformation in the two vertical directions, while A

×

describes a deformation in the directions at 45

◦

.

Note that the deformations change the shape of the ring in the same way, except for the rotated orientation. This

can be veriﬁed by performing a rotation by

π

4

,

_

˜ x

˜ y

_

→

1

√

2

_

1 −1

1 1

__

˜ x

˜ y

_

,

and then it is straightforward to see that this will exchange A

+

and A

×

.

27

8.2.2 Using geodesic deviation equation

PLEASE NOTE: The commonly found arguments that use the geodesic deviation equation are suspect because the

geodesic deviation equation uses coordinates ξ

µ

rather than gauge-invariant quantities. A cloud of particles at rest in

the gravitational ﬁeld h

µν

described by Eq. (22) will stay indeﬁnitely at rest in the coordinate system (ξ

µ

= const)

even though the distances between particles will change with time. See arxiv:gr-qc/0605033 for nice explanations. The

solution given above is simple and straightforward. The argument using the geodesic deviation (see Carroll, Chapter 6,

p. 152-154) goes like this:

The geodesic deviation equation can be simpliﬁed for a deviation vector S

σ

corresponding to nonrelativistic (almost

stationary) particles moving with 4-velocity approximately equal to (1, 0, 0, 0),

d

2

S

σ

dt

2

= R

σ

00λ

S

λ

.

The Riemann tensor to ﬁrst order in h can be expressed as

R

σ

00λ

=

¨

h

σ

λ

(note that h

µ0

= 0). Therefore, the geodesic deviation equation becomes

¨

S

σ

=

¨

h

σ

λ

S

λ

,

¨

S

x

= ω

2

(h

xx

S

x

+h

xy

S

y

) = ω

2

(A

+

S

x

+A

×

S

y

) e

−iω(t−z)

,

¨

S

y

= ω

2

(h

yx

S

x

+h

yy

S

y

) = ω

2

(A

×

S

x

−A

+

S

y

) e

−iω(t−z)

,

and there is no change in the z direction.

8.3 Poisson equation

The general solution of the Poisson equation,

∆φ = 4πρ,

with boundary conditions φ →0 at inﬁnity, is easy to ﬁnd using the Fourier transform:

−k

2

φ(k) = 4πρ(k),

φ(x) = −

_

d

3

k

(2π)

3

e

ik·x

4πρ(k)

k

2

= −

_

d

3

k

(2π)

3

e

ik·x

4π

k

2

_

d

3

ye

−ik·y

ρ(y) =

_

d

3

y ρ(y)G(x −y),

where G(x) is the Green’s function,

G(x) = −

_

d

3

k

(2π)

3

e

ik·x

4π

k

2

= −

1

π

_

∞

0

dk

_

π

0

dθ sin θ e

ik|x| cos θ

= −

2

π [x[

_

∞

0

dk

k

sinkx = −

1

[x[

.

Here we used the known integral

_

∞

0

sinz

z

dz =

1

2

_

+∞

−∞

sin z

z

dz =

1

2

π.

Therefore

φ(x) = −

_

d

3

y

[x −y[

ρ(y). (23)

One can denote this integral more concisely,

φ = 4π

1

∆

ρ,

where the operator

1

∆

is just a shorthand notation for the integral in Eq. (23).

Note that the function ρ must fall oﬀ suﬃciently rapidly as [x[ →∞ or else the integral (23) will not converge. It is

suﬃcient that [ρ(x)[ ∼ [x[

−2−ε

at large [x[ (where ε > 0).

8.4 Metric perturbations 1

An arbitrary 3-vector X

i

(such as T

0

i

) is decomposed into scalar and vector parts as follows,

X

i

= a

,i

+b

i

, b

i,i

= 0.

To determine an explicit expression for a, let us compute the divergence of X

i

,

X

i,i

= a

,ii

= ∆a.

Therefore

a(x) = −

1

4π

_

d

3

y

[x −y[

X

i,i

(y).

One can write more concisely

a =

1

∆

X

i,i

.

28

8.5 Metric perturbations 2

The energy-momentum tensor T

µν

is decomposed as

T

0

i

= α

,i

+β

i

, α ≡

1

∆

T

0

k,k

, β

i

≡ T

0

i

−

_

1

∆

T

0

k,k

_

,i

;

T

i

k

= µδ

ik

+λ

,ik

+σ

i,k

+σ

k,i

+T

(T)i

k

,

β

i,i

= σ

i,i

= 0, T

(T)i

i

= 0, T

(T)i

k,i

= 0.

We need to verify that the equation

−

1

16πG

(

˙

S

i

−

¨

F

i

) = σ

i

, (24)

which represents the vector part of the spatial Einstein equation (here σ

i

is the vector part of the spatial T

ij

), also follows

from the conservation of T

µν

and from the other Einstein equations.

To calculate the components λ, µ of the EMT, we compute

T

i

i

= ∆λ + 3µ,

T

i

k,i

= ∆λ

,k

+µ

,k

+ ∆σ

k

,

T

i

k,ik

= ∆∆λ + ∆µ.

Now we solve this system of equations and ﬁnd

µ =

1

2

_

T

i

i

−

1

∆

T

i

k,ik

_

, λ =

3

2

1

∆

T

i

k,ik

−

1

2

T

i

i

,

σ

j

=

1

∆

T

i

j,i

−

1

∆

_

1

∆

T

i

k,ik

_

,j

,

(T)

T

i

k

= T

i

k

−µδ

i

k

−λ

,ik

−σ

i,k

−σ

k,i

.

Note that the operator

1

∆

2

applied to a function f(x) is deﬁned only if the function f has a suﬃciently fast decay at

[x[ → ∞. It is suﬃcient that [f(x)[ ∼ [x[

−3−ε

with ε > 0 at large [x[. This is a faster decay than that required by the

operator

1

∆

.

The Einstein equations are

2∆Ψ = 8πGT

0

0

,

2

˙

Ψ

,i

+

1

2

∆

˜

S

i

= 8πGT

0

i

= 8πG(α

,i

+β

i

) ,

D

,ij

−δ

ij

_

∆D + 2

¨

Ψ

_

−

1

2

_

˙

˜

S

i,j

+

˙

˜

S

j,i

_

+

1

2

h

ij

= 8πGT

i

j

= 8πG

_

µδ

ik

+λ

,ik

+σ

i,k

+σ

k,i

+T

(T)i

k

_

,

where we have denoted for brevity

˜

S

i

≡ S

i

−

˙

F

i

, D ≡ Φ −Ψ +B −

˙

E,

which are gauge-invariant variables. In the 3+1 decomposition, the Einstein equations become

∆Ψ = 4πGT

0

0

, (25)

˙

Ψ = 4πGα, (26)

∆

˜

S

i

= 16πGβ

i

, (27)

D = 8πGλ, (28)

∆D + 2

¨

Ψ = −8πGµ, (29)

˙

˜

S

i

= −16πGσ

i

, (30)

h

ij

= 16πGT

(T)i

j

. (31)

The conservation law of the EMT in 3+1 decomposition looks like this,

T

0

0,0

+T

j

0,j

= 0, T

0

i,0

+T

j

i,j

= 0. (32)

This gives

˙

T

0

0

= ∆α, ˙ α

,i

+

˙

β

i

+ ∆λ

,i

+µ

,i

+ ∆σ

i

= 0,

therefore

˙

T

0

0

= ∆α, ˙ α + ∆λ +µ = 0,

˙

β

i

+ ∆σ

i

= 0. (33)

Then it is easy to see that Eqs. (26), (29), and (30) are consequences of Eqs. (25), (27), (28), and the conservation

laws (33). In particular,

˙

˜

S

i

= ∂

t

1

∆

16πGβ

i

= −

1

∆

16πG∆σ

i

= −16πGσ

i

.

29

9 Gravitational radiation II

9.1 Projection of the matter tensor

a) First note that P

ab

is a projector,

P

ab

P

bc

= P

ac

,

and its image has dimension 2, that is, the trace of P

ab

is 2,

P

ii

= 3 −n

i

n

i

= 2.

Therefore, for any X

ab

we have

(T)

X

ii

= P

ia

X

ab

P

bi

−

1

2

P

ii

P

ab

X

ab

= P

ab

X

ab

−

1

2

2P

ab

X

ab

= 0.

b) We compute

(T)

X

ik,i

=

_

P

ia

X

ab

P

bk

−

1

2

P

ik

P

ab

X

ab

_

,i

=

_

P

ia

P

bk

−

1

2

P

ik

P

ab

_

,i

X

ab

+

_

P

ia

P

bk

−

1

2

P

ik

P

ab

_

X

ab,i

. (34)

Note that the projection kills any component proportional to R

i

because P

ia

R

i

= 0. At the same time, X

ab,i

is propor-

tional to R

i

because

X

ab,i

=

_

X(t −[

R[)

_

,i

= −

R

i

R

X

′

.

Therefore the second term in Eq. (34) vanishes:

_

P

ia

P

bk

−

1

2

P

ik

P

ab

_

R

i

= 0.

So only the ﬁrst term remains,

(T)

X

ik,i

=

_

P

ia

P

bk

−

1

2

P

ik

P

ab

_

,i

X

ab

.

However, this term contains derivatives of P

ab

, which are also sometimes proportional to R

i

. We compute

P

ik,a

= −n

i,a

n

k

−n

i

n

k,a

; n

i,a

=

_

R

i

R

_

,a

=

R

i,a

R

−

R

i

R

2

[R[

,a

=

δ

ia

R

−

R

i

R

a

R

3

=

1

R

P

ia

,

P

ik,a

= −

1

R

(P

ai

n

k

+P

ak

n

i

) , P

ik,i

= −

2

R

n

k

, (note that P

ak

n

k

= 0)

_

P

ia

P

bk

−

1

2

P

ik

P

ab

_

,i

= P

ia,i

P

bk

−

1

2

P

ik,i

P

ab

+P

ia

P

bk,i

−

1

2

P

ik

P

ab,i

= −

2

R

n

a

P

bk

+

1

R

n

k

P

ab

−

1

R

P

ia

(P

bi

n

k

+P

ik

n

b

) +

1

2R

P

ik

(P

ai

n

b

+P

bi

n

a

)

=

1

R

_

−2n

a

P

bk

+n

k

P

ab

−P

ab

n

k

−P

ak

n

b

+

1

2

P

ak

n

b

+

1

2

P

bk

n

a

_

= −

1

R

_

3

2

P

bk

n

a

+

1

2

P

ak

n

b

_

.

This is higher-order in 1/[

R[ than P

ab

, as required.

9.2 Matter sources

The question is to verify the following property,

(T)

X

ik

=

(T)

Q

ik

,

where

Q

ik

= X

ik

−

_

1

3

δ

ik

r

2

T

0

0

d

3

r.

It is easy to see that X

ik

diﬀers from Q

ik

only by a term of the form A(t, R)δ

ij

. The transverse-traceless part of δ

ij

is

zero,

_

P

ia

P

bk

−

1

2

P

ik

P

ab

_

δ

ab

= 0.

Therefore the transverse-traceless parts of X

ik

and Q

ik

are the same.

30

9.3 Energy-momentum tensor of gravitational waves

See Hobson-Efstathiou-Lasenby [2006], ¸17.11.

We need to compute the second-order terms in the Einstein tensor. The idea is to separate the second-order terms

already in the Ricci tensor. We will also try to simplify things by using the fact that h

µν

is purely transverse-traceless;

h

0α

= 0, h

ii

= 0, h

ik,i

= 0. It follows that

η

µν

h

µν

= 0, h

µν

,µ

= 0.

Also, it is given that the EMT of matter vanishes, T

µν

= 0, which we will use below.

First we decompose the metric,

g

µν

= η

µν

+h

µν

, g

µν

= η

µν

−h

µν

;

note that now indices are always raised and lowered using η

µν

. We need to compute the Ricci tensor to second order.

The Christoﬀel symbol up to second order is

Γ

λ

αβ

=

1

2

_

η

λµ

−h

λµ

_

(h

µα,β

+h

µβ,α

− h

αβ,µ

) = Γ

(1)λ

αβ

+ Γ

(2)λ

αβ

,

Γ

(1)λ

αβ

=

1

2

η

λµ

(h

αµ,β

+h

βµ,α

−h

αβ,µ

) ,

Γ

(2)λ

αβ

= −

1

2

h

λµ

(h

αµ,β

+h

βµ,α

−h

αβ,µ

) .

The Ricci tensor is

R

αβ

= Γ

λ

αβ,λ

−Γ

λ

λα,β

+ Γ

λ

λν

Γ

ν

αβ

−Γ

λ

βν

Γ

ν

αλ

= R

(1)

αβ

+R

(2)

αβ

,

R

(1)

αβ

= Γ

(1)λ

αβ,λ

−Γ

(1)λ

λα,β

,

R

(2)

αβ

= Γ

(2)λ

αβ,λ

−Γ

(2)λ

λα,β

+ Γ

(1)λ

λν

Γ

(1)ν

αβ

−Γ

(1)λ

βν

Γ

(1)ν

αλ

.

Let us now evaluate these expressions and simplify as much as possible, as early as possible:

Γ

(1)λ

αλ

=

1

2

η

λµ

h

λµ,α

=

1

2

_

η

λµ

h

λµ

_

,α

= 0,

R

(1)

αβ

= Γ

(1)λ

αβ,λ

−Γ

(1)λ

λα,β

=

1

2

η

λµ

(h

αµ,βλ

+h

βµ,αλ

−h

αβ,µλ

) = −

1

2

h

αβ

,

because of the transverse traceless property of h

µν

. Now, since R

(1)

αβ

is found from the ﬁrst-order Einstein equation

R

(1)

αβ

−

1

2

η

αβ

R

(1)

= 8πGT

αβ

,

and it is given that T

αβ

= 0. Hence, we have h

αβ

= 0.

Let us now evaluate derivatives of the second-order terms in the Christoﬀel symbols:

Γ

(2)λ

αλ

= −

1

2

h

λµ

(h

αµ,λ

+h

λµ,α

−h

αλ,µ

) = −

1

2

h

λµ

h

λµ,α

,

−Γ

(2)λ

αλ,β

=

1

2

h

λµ

h

λµ,αβ

+

1

2

h

λµ

,α

h

λµ,β

,

Γ

(2)λ

αβ,λ

= −

1

2

h

λµ

(h

αµ,βλ

+h

βµ,αλ

−h

αβ,µλ

)

(in the last line we used h

λµ

,λ

= 0). Finally, we tackle the term Γ

(1)λ

βν

Γ

(1)ν

αλ

. In this term, it helps to write

Γ

(1)λ

αβ

=

1

2

_

h

λ

α,β

+h

λ

β,α

−h

,λ

αβ

_

,

where again the indices are raised via η

µν

since we only need this term to ﬁrst order. Then we can simplify this expression

by grouping together terms where α, β appear in similar positions:

4Γ

(1)λ

βν

Γ

(1)ν

αλ

=

_

h

λ

β,ν

+h

λ

ν,β

−h

,λ

βν

_

_

h

ν

α,λ

+h

ν

λ,α

−h

,ν

αλ

_

(expand brackets) = h

λ

β,ν

h

ν

α,λ

+h

λ

β,ν

h

ν

λ,α

−h

λ

β,ν

h

,ν

αλ

+h

λ

ν,β

h

ν

α,λ

+h

λ

ν,β

h

ν

λ,α

−h

λ

ν,β

h

,ν

αλ

−h

,λ

βν

h

ν

α,λ

−h

,λ

βν

h

ν

λ,α

+h

,λ

βν

h

,ν

αλ

(move, rename λ, ν) = h

,ν

βλ

h

,λ

αν

+h

βλ,ν

h

λν

,α

−h

λ

β,ν

h

,ν

αλ

+h

λν

,β

h

αν,λ

+h

λν

,β

h

λν,α

−h

λν

,β

h

αλ,ν

−h

λ

β,ν

h

,ν

λα

−h

βν,λ

h

λν

,α

+h

,ν

βλ

h

,λ

αν

(gather terms) = 2h

,ν

βλ

h

,λ

αν

+ (h

βλ,ν

−h

βν,λ

) h

λν

,α

−2h

λ

β,ν

h

,ν

αλ

+h

λν

,β

(h

αν,λ

−h

αλ,ν

) +h

λν

,β

h

λν,α

(symmetry of h

µν

) = h

λν,α

h

λν

,β

+ 2h

,ν

βλ

h

,λ

αν

−2h

λ

β,ν

h

,ν

αλ

.

Finally, we put together the expression for R

(2)

αβ

:

R

(2)

αβ

=

1

2

h

λµ

(−h

αµ,βλ

−h

βµ,αλ

+h

αβ,µλ

+h

λµ,αβ

) +

1

2

h

λµ

,α

h

λµ,β

−

1

4

_

h

λν,α

h

λν

,β

+ 2h

,ν

βλ

h

,λ

αν

−2h

λ

β,ν

h

,ν

αλ

_

=

1

2

h

λµ

(−h

αµ,βλ

−h

βµ,αλ

+h

αβ,µλ

+h

λµ,αβ

) +

1

4

h

λµ

,α

h

λµ,β

+

1

2

_

h

,ν

αλ

h

λ

β,ν

−h

,ν

βλ

h

,λ

αν

_

. (35)

31

The Ricci scalar is

R

(2)

= η

αβ

R

(2)

αβ

=

1

2

h

λµ

h

λµ

+

1

4

h

λµ

,α

h

,α

λµ

+

1

2

_

h

,ν

αλ

h

αλ

,ν

−h

αλ,ν

h

αν,λ

_

=

3

4

h

λµ,α

h

λµ,α

−

1

2

h

αλ,ν

h

αν,λ

, (36)

where we again used the transverse traceless property of h

µν

and also h

αβ

= 0. Note that the ﬁrst-order Ricci scalar

is zero, R

(1)

= 0, since T

αβ

= 0. For this reason we may use η

αβ

in Eq. (36), otherwise we would have to write

(η +h)

_

R

(1)

+R

(2)

_

and pick up a second-order term hR

(1)

.

Again, since R

(1)

= 0, we may use η

µν

rather than g

µν

to compute the Einstein tensor:

G

(2)

αβ

= R

(2)

αβ

−

1

2

η

αβ

R

(2)

.

We do not write the answer explicitly since it is a combination of Eqs. (35) and (36).

Now let us perform an averaging of the quantity G

(2)

αβ

over both space and time. In other words, we integrate G

(2)

αβ

over a 4-dimensional region such that h

µν

= 0 and h

µν,α

= 0 on the boundary of that region. Then ¸∂

µ

(...)¸ = 0 and so

we may integrate by parts, for example

¸A

µ

B

ν,α

¸ = −¸A

µ,α

B

ν

¸ ,

as long as A

µ

B

ν

contains ﬁrst powers of h

αβ

or h

αβ,γ

, so that boundary terms vanish. Then, for example,

¸

h

λµ

h

λµ,αβ

_

= −

¸

h

λµ

,α

h

λµ,β

_

, (37)

¸

h

λµ

h

αν,βλ

_

= −

_

h

λµ

,λ

h

αν,β

_

= 0,

¸h

,ν

αλ

h

βµ,ν

¸ = −¸h

αλ

h

βµ

¸ = 0,

by h

αβ

= 0 and by the transverse traceless property of h

µν

. Many terms cancel in this way; for instance,

¸

R

(2)

_

= 0.

Finally, we get

_

G

(2)

αβ

_

=

_

1

2

h

λµ

(−h

αµ,βλ

−h

βµ,αλ

+h

αβ,µλ

+h

λµ,αβ

) +

1

4

h

λµ

,α

h

λµ,β

+

1

2

_

h

,ν

αλ

h

λ

β,ν

−h

,ν

βλ

h

,λ

αν

_

_

=

1

2

¸

h

λµ

h

λµ,αβ

_

+

1

4

¸

h

λµ

,α

h

λµ,β

_

= −

1

4

¸

h

λµ

,α

h

λµ,β

_

using Eq. (37). Finally, we obtain the required equation,

(GW)

T

µν

= −

1

8πG

_

G

(2)

αβ

_

=

1

32πG

¸

h

λµ

,α

h

λµ,β

_

=

1

32πG

¸

h

ij

,α

h

ij,β

_

.

9.4 Power of emitted radiation

To derive the relations

_

n

l

n

m

dΩ

4π

=

1

3

δ

lm

,

_

n

l

n

m

n

k

n

r

dΩ

4π

=

1

15

(δ

lm

δ

kr

+δ

lk

δ

mr

+δ

lk

δ

mr

),

let us consider the generating function

g

Ω

(q

l

) ≡

_

dΩ

4π

exp

_

−in

l

q

l

¸

,

which is a function of a vector argument q

l

. After computing g

Ω

(q

l

) it will be easy to obtain integrals such as the above:

_

n

l

n

m

dΩ

4π

= i

∂

∂q

l

i

∂

q

m

g

Ω

(q

j

)

¸

¸

¸

¸

qj=0

, etc.

The computation is easy if we introduce spherical coordinates with the z axis parallel to the vector q

l

, then n

l

q

l

= [q[ cos θ,

where [q[ ≡

√

q

l

q

l

, and then we have

g

Ω

(q

l

) =

1

4π

_

2π

0

dφ

_

π

0

dθ sin θ exp [−i [q[ cos θ] =

1

4π

2π

−2i sin [q[

−i [q[

=

sin [q[

[q[

= 1 −

1

3!

q

l

q

l

+

1

5!

(q

l

q

l

)

2

−

1

7!

(q

l

q

l

)

3

+...

32

We have used the Taylor expansion for convenience of evaluating derivatives at [q[ = 0. These derivatives can be found

as follows,

∂g

Ω

∂q

l

= −

2

3!

q

l

+

4

5!

q

l

[q[

2

−... =

_

−

1

3

+

1

30

[q[

2

_

q

l

,

∂

2

g

Ω

∂q

k

∂q

l

=

_

−

1

3

+

1

30

[q[

2

_

δ

kl

+

1

15

q

l

q

k

,

∂

3

g

Ω

∂q

j

∂q

k

∂q

l

=

1

15

(q

j

δ

kl

+q

k

δ

jl

+q

l

δ

jk

) ,

∂

4

g

Ω

∂q

j

∂q

k

∂q

l

∂q

m

=

1

15

(δ

jm

δ

kl

+δ

km

δ

jl

+δ

lm

δ

jk

) .

Now we compute the intensity of radiation. The ﬂux of radiation in the direction n

k

is

(GW)

T

0k

n

k

, and we need to

integrate this ﬂux through a sphere of radius R:

dE

dt

= R

2

_

d

2

Ω

(GW)

T

0k

n

k

=

R

2

32πG

_

d

2

Ω

_

h

ij

,0

h

ij,k

_

n

k

.

The perturbation h

ij

is found from the Einstein equation. It was derived in the lecture that, in the leading order in 1/R,

we have

h

ij

= 2G

(TT)

¨

Q

ij

(t −[

R[)

[

R[

,

(TT)

Q

ij

≡

_

P

ai

P

bj

−

1

2

P

ab

P

ij

_

Q

ab

.

The projection tensor P

ij

is deﬁned in Problem 9.1. The tensor Q

ij

is deﬁned by

Q

ij

(t) ≡

_

d

3

x

_

x

i

x

j

−

1

3

[x[

2

δ

ij

_

T

00

(x, t)

and is by deﬁnition trace-free, Q

ii

= 0. Thus we have

h

ij,k

=

16πG

R

(TT)

¨

Q

ij

(t −[R[)

R

k

R

,

dE

dt

=

G

8π

_

d

2

Ω

_

(TT)

...

Q

ij

(TT)

...

Q

ij

_

.

It remains to compute the average over the sphere of

(TT)

...

Q

ij

(TT)

...

Q

ij

.

Consider any symmetric, trace-free tensor A

ij

instead of

...

Q

ij

; the transverse-traceless part of A

ij

is deﬁned by

(TT)

A

ij

≡

_

P

ai

P

bj

−

1

2

P

ab

P

ij

_

A

ab

.

Since A

ii

= 0, we have A

ab

P

ab

= −A

ab

n

a

n

b

and so

(TT)

A

ij

(TT)

A

ij

=

_

P

ai

P

bj

−

1

2

P

ab

P

ij

__

P

ci

P

dj

−

1

2

P

cd

P

ij

_

A

ab

A

cd

=

_

P

ac

P

bd

−

1

2

P

ab

P

cd

_

A

ab

A

cd

=

_

P

ac

P

bd

−

1

2

n

a

n

b

n

c

n

d

_

A

ab

A

cd

= A

ab

A

ab

−2A

ac

A

bc

n

a

n

b

+

1

2

A

ab

A

cd

n

a

n

b

n

c

n

d

.

After integration over the sphere, according to formulas derived above, we have (again note that δ

ab

A

ab

= 0 and A

ab

=

A

ba

)

1

4π

_

d

2

ΩA

ac

A

bc

n

a

n

b

=

1

3

A

ac

A

bc

δ

ab

=

1

3

A

ab

A

ab

,

1

4π

_

d

2

ΩA

ab

A

cd

n

a

n

b

n

c

n

d

=

1

15

A

ab

A

cd

(δ

ab

δ

cd

+δ

ac

δ

bd

+δ

ad

δ

bc

) =

2

15

A

ab

A

ab

,

and thus

1

4π

_

d

2

Ω

(TT)

A

ij

(TT)

A

ij

= A

ab

A

ab

_

1 −

2

3

+

1

2

2

15

_

=

2

5

A

ab

A

ab

.

33

Finally, substituting

...

Q

ij

instead of A

ij

, we ﬁnd

dE

dt

=

G

2

1

4π

_

d

2

Ω

_

(TT)

...

Q

ij

(TT)

...

Q

ij

_

=

G

5

¸...

Q

ij

...

Q

ij

_

. (38)

The angular brackets ¸¸ indicate that we must perform an averaging over spacetime domains. This means, for us, that we

need to average over time (since Q

ij

is a function only of time). Averaging is performed over timescales larger than the

typical timescale of change in the source. For instance, if the source is a rotating body, then averaging must be performed

over several periods of rotation.

10 Derivation: gravitational waves in ﬂat spacetime

The metric is assumed to be of the form

g

µν

= η

µν

+h

µν

,

where η

µν

= diag(1, −1, −1, −1) is the Minkowski metric for ﬂat space and h

µν

is a small perturbation which is assumed

to fall oﬀ to zero quickly at inﬁnity. We start with a 3+1 decomposition of the metric perturbation h

µν

and compute

the Einstein tensor (see Problems 7.2, 7.3, 7.4) in terms of the perturbation variables Φ, Ψ, etc. We also decompose the

matter energy-momentum tensor T

µν

and obtain the Einstein equations separately for each component (8.5). The result

is that (a) the variables E, B, F

i

can be set to zero by choosing a coordinate system; (b) if there is no matter (vacuum)

the scalar and vector components of the metric perturbation are equal to zero; (c) the tensor component h

ij

satisﬁes the

wave equation (31).

Solutions of the wave equation in four dimensions with retarded boundary condition can be written using the known

Green’s function. For instance, if

f(t, r) = A(t, r) ⇒ f(t, R) = −

1

4π

_

d

3

r

A(t −[r −R[ , r)

[r −R[

.

We will use this formula for f ≡

(T)

h

ij

and A ≡ 16πG

(T)

T

i

j

. Now, we are interested in describing the radiation sent far

away by a matter distribution, so we take the limit [R[ ≫[r[, and then we can approximately set

(T)

h

ij

≈ −

4G

[R[

_

d

3

r

(T)

T

i

j

(t −[r −R[ , r).

Now we use a trick (See Hobson-Efstathiou-Lasenby, ¸17.9) to express the components T

j

i

through T

0

0

; it is much easier

to compute with T

0

0

because this is just the energy density of matter. Consider ﬁrst the tensor T

i

j

rather than its

transverse-traceless part

(T)

T

i

j

. The trick is to write the integral (out of sheer luck)

_

d

3

r ∂

a

∂

b

_

r

i

r

j

_

T

ab

= 2

_

d

3

r T

ij

.

Then we integrate by parts and use the conservation laws (32),

T

i

j,i

= −T

0

j,0

, T

i

j,ij

= −T

0

j,0j

= T

0

0,00

≡

¨

T

0

0

; T

ij

,ij

= −

¨

T

0

0

.

2

_

d

3

r T

ij

=

_

d

3

r T

ab

,ab

r

i

r

j

= −

_

d

3

r r

i

r

j

¨

T

0

0

.

Now, we need to obtain the transverse-traceless part of the tensor. In principle, we have the formulas for this (see

Problem 8.5). But they are very complicated. A shortcut is to notice that the projection operator P

ab

does the job

(Problems 9.1 and 9.2), at least in the leading order in 1/[R[. (We are only interested in everything to leading order in

1/ [R[ since all smaller terms will not give any ﬂux of radiated energy.) The result is

(T)

h

ik

(R, t) =

2G

[R[

(TT)

¨

Q

ik

(t −[R[),

Q

ik

(t) ≡

_

d

3

r T

0

0

(r, t)

_

r

i

r

k

−

1

3

r

2

δ

ik

_

. (39)

The tensor Q

ik

is the quadrupole moment of energy distribution; it is a traceless and symmetric tensor. In principle, we

could just use the integral

_

d

3

r T

0

0

(r, t)r

i

r

k

, (40)

because the transverse-traceless parts of (40) and of Q

ik

are the same, but it is more convenient to use Q

ik

.

Since we found the tensor perturbation

(T)

h

ij

, now we would like to compute the energy radiated in the gravitational

waves. For this we need the energy-momentum tensor of gravitational waves. This is a rather nontrivial object, since

in general the gravitational ﬁeld does not have any energy-momentum tensor. In the case of gravitational waves in

ﬂat background spacetime, one can deﬁne some quantity

(GW)

T

µν

which looks like the energy-momentum tensor of

34

gravitational waves (but actually is not even a generally covariant tensor). We will compute this quantity below. This

quantity is useful because it gives the correct value of the energy after one integrates over a large region of spacetime.

The real justiﬁcation for using this procedure is complicated and is beyond the scope of this introductory course of

General Relativity. We will only show a heuristic justiﬁcation, which is the following. Gravitation is sensitive to every

kind of energy, because the energy-momentum tensor acts as a “source” for gravity (it is on the right-hand side of the

Einstein equation). So gravitation should be also sensitive to the energy in gravitational waves. One expects that the

energy-momentum tensor for gravitational waves,

(GW)

T

µν

(if we know how to compute it), will act as an additional

source for gravity, like every other energy-momentum tensor for other kinds of matter. We will guess the formula for

(GW)

T

µν

as follows. We can write the Einstein equation and expand it in powers of the perturbation h

µν

:

G

α

β

[η

µν

+h

µν

] = G

(1)α

β

[h] +G

(2)α

β

[h] +... = 8πGT

α

β

. (41)

Here G

(1)

is the ﬁrst-order Einstein tensor, G

(2)

is the second-order etc. First we solve only to ﬁrst-order in h (this is

what we have been doing so far) and then we will get an approximate solution h

(1)

µν

:

G

(1)α

β

[h

(1)

] = 8πGT

α

β

. (42)

This solution disregards the eﬀect of gravitational waves and only takes into account the eﬀect of matter T

α

β

. We can

try to get a more precise solution by using the second-order terms in Eq. (41). Then we will get a correction h

(2)

to the

solution; the solution g = η +h

(1)

+h

(2)

will be more precise. From Eq. (41) we ﬁnd

G

(1)α

β

[h

(1)

+h

(2)

] +G

(2)α

β

[h

(1)

] = 8πGT

α

β

.

Now this is similar to Eq. (42), but it looks as if there is an additional term in the energy-momentum tensor, which we

may rewrite as

G

(1)α

β

[h

(1)

+h

(2)

] = 8πG

_

T

α

β

+

(GW)

T

α

β

_

,

(GW)

T

α

β

≡ −

1

8πG

G

(2)α

β

[h

(1)

].

This motivates us to say that the EMT for gravitational waves is given by this formula. But of course this is not a real

derivation because this does not show why the quantity

(GW)

T

µν

has anything to do with the energy carried by waves.

The second-order terms G

(2)α

β

are computed in Problem 9.3. The result is used to compute the power radiated in

gravitational waves (Problem 9.4). Note that the calculation of G

(2)α

β

uses averaging over spacetime in an essential way.

Thus, the result is an averaged power radiated during a long time—much longer than the typical time scale of change

in the sources—and averaged over large distances, much larger than the typical length scale of the sources. This kind of

averaging is assumed in Eq. (38). It remains unclear exactly how one performs averaging over space and time.

One can use the formula (38) to compute the gravitational radiation emitted by nonrelativistic matter far away from

those places where the matter is contained. The distribution of the energy density, T

0

0

(r, t), should be given. Then one

computes the tensor Q

ij

according to Eq. (39), by integrating over space where the matter is contained. Finally, one

computes the third derivative

...

Q

ij

, the trace, and averages over long time, as indicated in Eq. (38). If we want to insert

factors of c, we replace G by Gc

−9

.

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39

7 Weak gravitational ﬁelds 7.1 Gravitational bending of light 7.2 Einstein tensor for weak ﬁeld 7.3 Gravitational perturbations I 7.4 Gravitational perturbations II

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8 Gravitational radiation I 8.1 Gauge invariant variables . . . . . . . . . 8.2 Detecting gravitational waves . . . . . . . 8.2.1 Using distances between particles . 8.2.2 Using geodesic deviation equation 8.3 Poisson equation . . . . . . . . . . . . . . 8.4 Metric perturbations 1 . . . . . . . . . . . 8.5 Metric perturbations 2 . . . . . . . . . . .

9 Gravitational radiation II 9.1 Projection of the matter tensor . . . . . . . . . . 9.2 Matter sources . . . . . . . . . . . . . . . . . . . 9.3 Energy-momentum tensor of gravitational waves 9.4 Power of emitted radiation . . . . . . . . . . . . .

10 Derivation: gravitational waves in ﬂat spacetime A GNU Free Documentation License A.0 Applicability and deﬁnitions . . . . A.1 Verbatim copying . . . . . . . . . . A.2 Copying in quantity . . . . . . . . A.3 Modiﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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This is a complete set of solutions to the exercises oﬀered in the lecture course “General Relativity” (Allgemeine Relativit¨tstheorie) taught in the winter semester of 2006-2007 by Prof. V. F. Mukhanov at the Department of Physics, a Ludwig-Maximilians-University, in Munich, Germany. A good textbook corresponding to the level of this course: General Relativity: An Introduction for Physicists by M. P. Hobson, G. P. Efstathiou, and A. N. Lasenby (Cambridge University Press, 2006). Many of the exercises and all of the solutions were authored by Dr. Sergei Winitzki. This ﬁle contains only the solutions; the problem statements are available separately. This text is copyrighted by Sergei Winitzki (2008) and distributed under the GNU Free Documentation License. In particular, it is permitted to print, copy, and distribute the entire text (or parts thereof) at no charge. The text may be modiﬁed at will, and modiﬁed versions may be distributed again under the terms of the same license. The license also stipulates that the entire machine-readable and human-editable source code for this text should be made available when A the text is distributed in any form. The full text of the license is in Appendix A. The full L TEX source for this text is attached inside the PDF ﬁle.

1

1.1

**Coordinates and 1-forms
**

Invertible transformations

The inverse function theorem guarantees that the equations ξ α = ξ α (x) are solvable near a point x0 if det ∂ξ α (x)/∂xβ = 0 at x0 . Under this condition, the coordinate transformation is invertible at x0 . Note: we are inverting not just one function ξ = ξ(x), but we are determining x from a system of n equations, say ξ α (x) = C α , where C α are n given values.

1.2

Examples of coordinate transformations

1. a) Since x = u 1 + v 2 + u3 /3, it is clear that x has range (−∞, +∞) for any ﬁxed value of v as u varies in the range (−∞, +∞). Similarly, y has the range (−∞, +∞). To verify that the coordinate system (x, y) covers the entire plane, it is suﬃcient to show that x has the full range at every ﬁxed value of y. It is suﬃcient to consider y0 > 0 (else change v → −v). At ﬁxed y = y0 > 0, we have y0 = v + vu2 + v 3 /3 and thus the admissible values of u are from −∞ to +∞,

2

1 3 while the admissible values of v are from 0 to v = vmax such that y0 = vmax + 3 vmax . Then 1 y0 − v − 3 v 3 v

u=±

(we have

y0 − v − 1 v 3 3 ≥ 0 for 0 < v < vmax ), v y0 − v − 1 v 3 3 v

x = ± 1 + v2 + =±

y0 − v − 1 v 3 3 3v

2 8 2 y0 + v + 3 9 3v

1 y0 − v − 3 v 3 . v

We have now expressed x as a function of v, i.e. x = x(v). When v varies from 0 to vmax , x(v) varies from ±∞ to 0. Since x(v) is nonsingular for v > 0, it follows that x has the full range. Therefore, the coordinates (x, y) cover the entire two-dimensional plane. b) The coordinate transformation is nonsingular if det Compute: det

∂x ∂u ∂x ∂v ∂y ∂u ∂y ∂v

∂ (x, y) = 0. ∂ (u, v)

= det

1 + u2 + v 2 2uv

2uv 1 + u2 + v 2

2

(1)

= 1 + 2 u2 + v 2 + u2 − v 2

> 0.

The coordinates are singular if r = 0 or θ = 0. c) The singularity at r = 0 is due to the fact that the set {r = 0, θ, φ} corresponds to a single point x = y = z = 0. This is similar to the singularity of the spherical coordinates at r = 0. Points along the cone |z| = x2 + y 2 are not covered because they correspond to θ → ∞, r → 0. The singularity at θ = 0, r = 0 is due to the fact that the set {r, θ = 0, φ} corresponds to the point x = y = 0, z = r at ﬁxed r = 0. This is similar to the polar coordinate singularity. 3. a) To determine the range, note that r sin θ ≥ 0 for the given range of θ and r. However, this is immaterial since the factors cos φ and sin φ will make x, y cover the full range (−∞, +∞). The coordinates (x, y, z) are a slight modiﬁcation of the standard spherical coordinates. These coordinates cover the whole space (x, y, z). b) Compute the determinant: − sin θ cos φ −r cos θ cos φ r sin θ sin φ det − sin θ sin φ −r cos φ sin φ −r sin θ cos φ = r2 sin θ. cos θ −r sin θ 0 This is nonzero unless r = 0 or θ = 0. c) The singularities are completely analogous to those in the spherical coordinates.

Therefore there are no singular points. 2. a) To determine the range, ﬁrst consider φ = 0. Then x = r sinh θ, y = 0, z = r cosh θ. It is clear that z 2 − x2 = r2 . Since r ≥ 0, the coordinates (x, y, z) cover only the domain |z| > |x|. With arbitrary φ, it is clear that the coordinates (x, y, z) cover the domain |z| > x2 + y 2 . b) Compute the determinant: sinh θ cos φ r cosh θ cos φ −r sinh θ sin φ det sinh θ sin φ r cosh θ sin φ r sinh θ cos φ = r2 sinh θ. cosh θ r sinh θ 0

1.3

Basis in tangent space

∂ Suppose that the vectors eα = ∂xα are linearly dependent, then there exist constants cα , not all zero, such that the vector α c eα equals zero. Act with this vector on the coordinate function x1 :

cα eα x1 = cα

∂ 1 x = c1 . ∂xα

By assumption, cα eα = 0, therefore c1 = 0. It follows that every cα equals zero, contradicting the assumption.

1.4

**Diﬀerentials of functions as 1-forms
**

d(x) = dx, d (xy) = xdy + ydx, d 4x2 y + x3 z = 8xy + 3x2 z dx + 4x2 dy + x3 dz, d x2 = 2xdx, d (x + y) = dx + dy, xdx + ydy d 3 x2 + y 2 = 3 . x2 + y 2

3

where xα (x) is considered a scalar function in the coordinates xβ . 4. 2 1 + (x ± y)2 1 1+ dx ± dy . y) is a constant. Two 1-forms d(ex cos y). If this were not so.6 Linearly independent 1-forms d (ex cos y) = ex cos ydx − ex sin ydy.7 Transformation law for 1-forms d˜α = x ∂ xα β ˜ dx . Now. 3. we ﬁnd that every other cα = 0.. ∂ ∂xβ = δα β Note that the relation is the deﬁnition of how the 1-form dxα acts on vectors ∂/∂xβ . det ex cos y ex sin y −ex sin y ex cos y = e2x = 0.4). is merely a diﬀerent interpretation of the deﬁnition of the 1-form ˜ ˜ ˜ d˜α (see Problem 1. we can easily show that h(x.Now let us compute dh by ﬁrst ﬁnding d (arctan (x ± y)) = d arctan 2x x2 − y 2 − 1 = = Adding these together and noting that 1 + (x + y) we get dh(x. y because 2. ∂xβ The transformation law for 1-forms. dy + dz are always linearly independent. dx + dz. 1. and the following determinant is always nonzero. d (ex sin y) = ex sin ydx + ex cos ydy. dxn . 8dx are linearly independent if the following determinant is nonzero. y) = d arctan (x + y) + arctan(x − y) + arctan 2x x2 − y 2 − 1 = 0. 1 = c1 . it is clear that any 1-form is decomposed as a linear combination of the 1-forms dx1 . dy − dz. 2dx 4x (xdx − ydy) − 2 x2 − y 2 − 1 (x2 − y 2 − 1) . Act with this on a vector ∂/∂x1 and obtain ∂ ∂ 0 = 0. By using the tangent sum rule. 1 = cα dxα . dz − dx are always linearly dependent (their sum is zero). which contradicts the assumption. Three 1-forms dx + dy. 1+y 8 −2xy 0 = 16xy.. Three 1-forms dx − dy. ∂x ∂x Therefore c1 = 0. 1. 4x2 (x2 −y 2 −1)2 −2 x2 + y 2 + 1 dx + 4xydy (x2 − y 2 − 1)2 + 4x2 1 + (x − y) 2 = x2 − y 2 − 1 2 + 4x2 . x 4 .5 Basis in cotangent space dxα . . This means that h(x. det This happens for xy = 0. 1.. 1. It remains to show that all these forms are linearly independent. under a coordinate transformation xα → xα = xα (xβ ). y) = 0. Similarly. d(ex sin y) are linearly independent for every x. Two 1-forms (1 + y)dx − 2xydy. there would exist a linear combination cα dxα = 0 such that not all cα = 0.

and computing dx. y0 . For example. Since 0 ≤ α < π . a point with maximum acceleration is x0 = σ. x = ± sin2 θ. The singularities at these points are not merely coordinate singularities 2 that disappear when choosing a diﬀerent coordinate system. Then √ 1 − 1 − 4z 2 1 − cos 2θ =± . so φ = 0 or φ = π. intersecting itself at x = y = z = 0. dz through the forms dθ and dφ: dx = 2a sin θ cos θ cos φdθ − a sin2 θ sin φdφ. i. The tangent plane at a point (x0 . then the acceleration is g sin α (from elementary mechanics). (nx . The rotational symmetry around the z axis leads to a “cusp” at θ = 0: the surface has a sharp corner and the metric cannot be made smooth and nondegenerate by any choice of local coordinates. 0. Hence. equivalently. we need to maximize α or. y0 = 0.e. which equals 2 ∂z rh 1 2 −2 = 2 e− 2 r σ . 1. σ x −1 z e 2 + = 0. 1 . 2 5 . (du + dv) 1 + (u + v)2 dx + dy 1 =− d 2 =− x+y 2 2 1 (x + y) (u + v) 1 + 3 (u + v) b) The component transformation matrix is given in Eq. (1). x = ± 2 2 This is a union of two circles touching at x = z = 0. The metric is degenerate at θ = 0 and θ = π . σ h 1B Induced metric The induced metric is found by taking the expression for the bulk metric. dz = 2a cos 2θdθ. 2. y = sin θ cos θ. a) First compute dx and dy: Then it is easy to compute xdx + ydy. Therefore g = dx2 + dy 2 + dz 2 = a2 dθ2 + a2 (sin θ)4 dφ2 .9 Supplementary problem sheet 1A Tangent plane If the tangent plane is at angle α with the horizontal. The y = 0 section of the surface corresponds to sin φ = 0. z0 = −he− 2 . 1 The maximum of ∂z/∂r is at r0 = σ.8 Examples of transformations dx = 1 + u2 + v 2 du + (2uv) dv. The situation near θ = π is similar. ny .1 ∂x ∂y = x0 . let us visualize the surface in a neighborhood of θ = 0. where (nx . but the reason is subtle.1.z0 e− 2 1 h . dy = (2uv) du + 1 + u2 + v 2 dv. tan α. z0 ) is given by the equation nx (x − x0 ) + ny (y − y0 ) + nz (z − z0 ) = 0. nz ) are the components of the normal vector. ny . dy. . dy = 2a sin θ cos θ sin φdθ + a sin2 θ cos φdφ. nz ) = Therefore the equation of the tangent plane is ∂z ∂z . To ﬁgure out the nature of these singularities. the surface is a torus with zero inner radius.etc. For instance. g = dx2 + dy 2 + dz 2 . ∂r σ r≡ x2 + y 2 .y0 .

v). √ 2 − sin u 2 − sin u 2 − sin u . √ Therefore the line is a circle of radius 1 centered at x = 2. 2 x2 + y 2 − √ 2 x2 + y 2 y.z = √ . For y = 0. ny . Therefore. the normal vector (up to a constant factor C) can be found as (nx .1C Embedded waves The surface is deﬁned by cos v . 2 − sin u 2 − sin u Also 2. sin v √ cos v √ 2 2. we have x2 + y 2 − √ 2 . 2z . ∂u ∂v etc. (nx . z) = 0. x2 + y 2 (this factor is chosen for simplicity). y. ∂u 2 − sin u √ ∂z 1 − 2 sin u = √ 2. = √ ∂v 2 − sin u ∂z = 0. 2 The equation of the tangent plane at point x0 is nα xα − xα = 0. ∂x ∂y ∂z =C 2 x2 + y 2 − √ 2 x2 + y 2 x. we eliminate u from these equations and ﬁnd sin u = √ 1 2− . nz ) = C Multiplying by C ≡ 1 2 ∂F ∂F ∂F . = −√ ∂v 2 − sin u cos v ∂y . It may be described by the equation √ 2 x2 + y 2 − 2 + z 2 − 1 = 0. ∂v ∂x ∂x du + dv. z = 0 . y) is obtained from 2 − sin u the full surface is a rotation surface. z) plane. x= √ 2 − sin u 1. this becomes nα = (nx . 2 − sin u cos u z=√ . Note that 1 x2 + y 2 = √ > 0. This circle does not intersect the z axis since √ √ −1 by multiplying with cos v and sin v. Therefore. ny . (0) where nα must be computed at x = x0 . Since the surface is now given by an equation of the form F (x. The resulting surface is a torus. the ﬁgure in the (x. 2 − sin u x2 + y2 − √ 2= 1− √ √ √ 2 2 − sin u 2 sin u − 1 √ = √ . we have v = 0 and thus sin v y= √ . 2 − sin u To visualize this line in the (x. nz ) = x Expressed through the coordinates (u. 6 . Now we see that (x.y x2 + y 2 − √ 2 . We compute ∂x cos v cos u = √ 2. ny . nz ) = √ √ 2 sin u − 1 2 sin u − 1 cos u .z x2 + y 2 . . where we need to use the x coordinate as the radius. 2 − sin u 2 − sin u + z 2 = 1. ∂u 2 − sin u Now we can expand dx = ∂x sin v . z) plane needs to be rotated around the z axis. x x− √ 2 2 1 cos u x= √ . 2 > 1. ∂u 2 − sin u sin v cos u ∂y = √ 2. 3.

e. ∂v ∂v ∂x ∂v ∂y ∂v ∂z 2 = 1. √ 2 sin u − 1 sin u + cos u − 2 = cos v √ √ 2 sin v cos v 2 2 − sin u 2 − sin u √ √ √ sin2 v cos u + 2 cos2 v − 2 sin u cos2 v 2 sin u − 1 + sin v √ √ 2 2 2 − sin u 2 − sin u √ cos u 1 − 2 sin u + √ 2 sin v √ 2 2 − sin u 2 − sin u √ 2 2. T (v1 . 2 − sin u √ cos u 2 − sin u 2 2 + √ 1 − 2 sin u √ 2 2 − sin u 2 2 du2 + √ dv 2 − sin u 2 The vector V a = (cos v. Therefore. sin v) is not a unit vector because cos2 v + sin2 v 1 g(V. v) ∂ ∂z(u. then A + B obviously has the same property. v) ∂ = + + . the vector V a has the following Cartesian components. v1 = The results: dx + 2ydy. v) ∂ ∂z(u. etc. nα V α (after simpliﬁcation) = 0. since a tensor is deﬁned as a multi-linear function. it is clear that tensors form a vector space. i. 2 2 − sin u ∂z √ ∂ sin v cos u ∂ 1 − 2 sin u ∂ + √ 2 ∂x + √ 2 2 2 − sin u ∂y 2 − sin u ∂z √ √ sin2 v cos u + 2 cos2 v − sin u cos2 v sin u + cos u − 2 ∂ + √ √ 2 2 ∂x 2 − sin u 2 − sin u ∂ ∂y This vector is within the tangent plane because nα V α = 0. ∂u ∂u ∂x ∂u ∂y ∂u ∂z ∂ ∂x(u.1 Tensors Deﬁnition of tensor product i a). c) d) First. v) ∂ ∂y(u. T (v1 . ∂ ∂ sin v cos v V = cos v − √ +√ 2 − sin u ∂x 2 − sin u ∂y + sin v cos v cos u √ 2 − sin u = sin v cos v √ 1 − 2 sin u ∂ + sin v √ . if A(x + λy) = A(x) + λA(y) and likewise for B. ∂/∂xk = δk gives: ω1 . v) ∂ ∂y(u. Now. show that the sum of two linear functions is again a linear function: If A(x) and B(x) are linear functions. v1 ) = 0.Therefore the induced metric is g = dx2 + dy 2 + dz 2 = du2 + dv 2 = √ 2. v2 ) = 6x.b) A direct calculation using the property dxi . 3 ∂ ∂x = 3. 7 . V ) = √ 2 = √ 2 − sin u 2 − sin u The Cartesian components of the vectors ∂/∂u. v) ∂ = + + . ∂/∂v are found from ∂ ∂x(u.

v) = u× v.g.g. Therefore T is a tensor of rank 1+2. v) = uα v α − εαβγ εα λµ uβ nγ v λ nµ .3 Example of tensor a) An obvious example of such T is the vector product. like this: [T (u. α α Tαγ = 2εα αγ − nγ δα = −3nγ 2. e. α Therefore α α [T (u. e. fr . However. Using the known identity for the ε-symbol.. v) = uα v α − (δβλ δγµ − δβµ δγλ ) uβ nγ v λ nµ = uα v α − uλ v λ nµ nµ + uλ nλ vµ nµ . deﬁned in three-dimensional space. gives components of a quantity which is not a tensor because these components do not transform correctly under changes of basis. v) in the index notation. b) Contracting two lower indices.. We can deﬁne A(f1 . If Tααβ were a tensor it would transform as ∂xλ ˜ Tααγ = Tµµλ . v1 . vs ). v) = gαβ uα v β .8 Examples of spaces with a metric g(u.2. a) We perform the calculation in components. ∂ xα ∂ xα ∂ xγ ˜ ˜ ˜ ∂ xγ ˜ c) Calculation gives α because εα αγ = 0 and δα = 3. The arguments are much simpler than the proof of tensor transformation law for components. v)] = Tβγ uβ v γ . . where gαβ are the components of the metric tensor. v1 . we need to represent T as a multilinear number-valued function of some number of 1-forms and vectors.g. Tααβ . α Now we would like to move uβ v γ out of the brackets and so determine Tβγ . T (v1 .. A(f1 . so as to rewrite identically α u α n β v β = u β v γ n γ δβ . Therefore we rename the index β to γ and also introduce a Kronecker symbol δβ .. the expression above contains α β β γ α u v instead of u v . T (u. it is easy to show that linear combinations of tensors are also multilinear functions. e. α 2. ∂ xγ ˜ However. v2 ) = f1 . v2 ) itself is not such a function because it has vector values instead of scalar (number) values. We would like to write g(u.. To determine the rank of T . Tensor products and contractions are also multilinear. v)] = 2εα βγ uβ v γ − uβ v γ nγ δβ = 2εα βγ − nγ δβ uβ v γ . 8 . α b) The calculation may go as follows. v2 ) and then it’s clear that A is multilinear.5 Contraction of tensor indices a) Using the deﬁnition of a tensor as a multilinear function.. We need to determine the components Tβγ such that α [T (u. εαβγ εα λµ = δβλ δγµ − δβµ δγλ . Tαβγ = ∂ xα ∂ xβ ∂ xγ ˜ ˜ ˜ The contraction over α = β yields ˜ Tααγ = α α ∂xλ ∂xλ ∂xµ ∂xν Tλµν = Tµµλ . . It is clear that T (v1 . So we need to add a 1-form to the list of arguments. v)] = 2εα βγ uβ v γ − uα nβ v β . this does not agree with the contraction of the tensor Tαβγ . α So we rewrite the given deﬁnition of T (u. which transforms as ∂xλ ∂xµ ∂xν ˜ Tλµν . we ﬁnd g(u. α α Tβγ = 2εα βγ − nγ δβ .

0 gαβ = 0 1 − n2 2 0 0 1−n Then it is clear that det gαβ = 1 − n2 . Then the components of the vector n in this basis are (|n| . The result is g(u. 0 3 2 Therefore the determinant of gαβ is always nonzero. dy. Therefore. A·C α α c). n). c) Considerations are analogous to b). kA − B × C . 0) and the matrix gαβ has the following simple form: 1 0 0 . where Mβ is a matrix and Aβ is a known vector. 2. 0. (2) Solving this system of equations. The solution xα can be found as a linear combination of Aα . Substituting this expression into the given equation. where M is the inverse matrix (it exists in the generic case). Multiply ×C: Simplify using the identity (2). B. and then we need to relabel indices such that v α uβ can be moved outside the parentheses. k β= 1−A·A . except that the size of the matrix gαβ is larger. d) The metric is (dx)2 + (dy)2 + (dz)2 . d) The equations have the form xα Mβ = Aβ . kx + x × A = B. kβ + A · A − 1 = 0. these three vectors are independent and so each of the coeﬃcients above must be zero: kα − A · B = 0. The solution is −1 −1 x = M A. dz through du and dv. k2 (x × A) × C = B × C. and we need to express dx. A·B . and the cross product εαβγ Aβ B γ with unknown coeﬃcients. A calculation gives g = dx2 + dy 2 + dz 2 = R2 sinh2 u + cosh2 u du2 + R2 cosh2 u dv 2 . Using vector notation. and using the known identity (A × B) × C = B (A · C) − A (B · C) . Since we are considering the generic case. To analyze the conditions under which det gαβ = 0. 9 .Denote n2 ≡ nµ nµ ≡ g(n. we have x = αA + βB + γ (A × B) . b) Similar calculations give 3 + n2 0 gαβ = . we ﬁnd (assuming k = 0 in the generic case) α= b) We have in vector notation x × A = B. On purpose.9 Supplementary problem sheet 2A Vector equations a) The equation contains two given vectors Aα and Bα . we ﬁnd A (kα − A · B) + B (kβ + A · A − 1) + (A × B) (kγ − β) = 0. we write this equation in the form of linear combination of the three vectors A. k γ= 1−A·A . kγ − β = 0. v) = δαβ − n2 δαβ + nα nβ v α uβ . we can choose an orthonormal basis such that nα is parallel to the ﬁrst basis vector. A (x · C) − x (A · C) = kA − x (A · C) = B × C. the matrix gαβ is nondegenerate if n2 = 1. x= Therefore x · C = k. Bα . Therefore gαβ = δαβ − n2 δαβ + nα nβ . and A × B.

where the coeﬃcients f. 0 0 1 . The metric is degenerate if r = 0 (i.. 0 1 0 . x ˜ we may express the partial derivative operators using the chain rule. at the origin). g. 3 3. ∂ξ ν ˜ The relationship between Γ and Γ can be found as follows. x while {ξ α } is the standard Euclidean coordinate system. The Christoﬀel symbols are deﬁned as Γµ = αβ ˜ Γµ αβ ∂ 2ξν ∂xα ∂xβ ∂ 2ξν = ∂ xα ∂ xβ ˜ ˜ ∂xµ . The result is g = |A|−2 . b) In the basis where Aα is parallel to the ﬁrst basis vector. X αβ Aα = B β X αβ Bα = 0 ⇒ u×A =B ⇒ u×B= 0 It follows that u is parallel to B and then the condition u × A = B leaves the only solution u = 0. 2C Degeneracy of the metric a) The metric can be written in the basis {dx. . Using Aα B α = 0 and denoting 2 Aα Aα ≡ |A| . . and therefore X αβ = 0 is the only admissible solution. . ∂ xα ∂ ˜ ∂ = . Suppose {xα } and {˜α } are two coordinate systems. µ ∂x ˜ ∂ xµ ∂xα ˜ 10 . where uγ is an unknown vector that we need to determine. . h are unknown.2B Tensor equations a) Since the vectors Aα and Bα are a basis in two-dimensional space (they are nonzero and orthogonal). f = h = 0. The determinant of this matrix is − 1 + x2 which is always nonzero. b) An antisymmetric tensor X αβ in three dimensions can be always expressed as X αβ = εαβγ uγ .1 The Christoﬀel symbol Transformations 1 We are considering a ﬂat space where Euclidean coordinates exist. We can now rewrite the conditions on X αβ in a vector form. .. so X αβ = Aα B β + B α Aβ |A| 2 ⇒ f |A| Aβ + g |A| B β = B β . µ ∂x ∂xµ ∂ xα ˜ ∂ ∂xα ∂ = . 2 2 2 2 . ∂ξ ν ∂ xµ ˜ . 0. we get the system of equations X αβ Aα = B β X αβ δαβ = 0 ⇒ f |A| + h |B| = 0.. then the symmetric tensor X αβ can be written generally as X αβ = f Aα Aβ + g Aα B β + Aβ Aα + hB α B β .. 0. Assuming that the functions xα (˜) and also xα (x) are known. dy} as the matrix g= 2 y2 1 + x2 1 + x2 0 .. the vector Aα has components (A.) and therefore the metric gαβ has the form −r2 0 0 . It remains to determine these coeﬃcients.e. 0.

5 Locally inertial reference frame In this problem (unlike problem 3. Therefore we can write the answer as T αβ γδµ. we ﬁnd x ∂ xα ˜ µ α α µ ν α = δβ + xµ − xµ δβ Γα (0)µν = δβ + x − x(0) Γ(0)µβ .1) tensors. Γλ = Γµ αβ ∂xα ∂xβ ∂ xµ ˜ ∂ xν ∂ xρ ∂xα ∂xβ ˜ ˜ 3.γ B β + Aα B β = B β ∂γ Aα − Γλ Aλ + Aα ∂γ B β + Γβ B λ . Assume that ∇ν uµ obeys the correct transformation law for rank (1.3 Covariant derivatives The rule is that every upper index gets a +Γ and every lower index gets a −Γ. and substitute ∂ µ u + Γµ u α .4 The Leibnitz rule Perform an explicit calculation.ν = ∂ν T αβ γδµ + Γα T λβ γδµ + Γβ T αλ γδµ λν λν − Γλ T αβ λδµ − Γλ T αβ γλµ − Γλ T αβ γδλ γν δν µν 3. Note that ∂ xα ∂xβ ˜ α = δγ ∂xβ ∂ xγ ˜ because the matrices are ∂ xα /∂xβ and ∂xβ /∂ xγ are inverse to each other. αγ λγ 3. αν ∂xν ∂ µ ˜µ α ˜ ˜ u + Γαν u . Denoting {˜α } ≡ {ξ α }. Each term with Γ replaces one index in the original tensor by one of the indices in Γ. but it is just a coordinate system which is like Euclidean at one point.γ = ∂γ Aα B β − Γλ Aα B β + Γβ Aα B λ . To use that formula. Aα. .1) the coordinate system {ξ α } is not a ﬂat Euclidean coordinate system. ∂xλ ∂ 2 xδ ∂ xµ ∂xγ ∂xδ λ ˜ Γγδ + β γ ∂xλ ∂ xα ∂ xβ ˜ ˜ ∂x ∂x ˜ ˜ γ δ µ ∂ 2 xλ ∂ x ∂x ∂x λ ˜ Γγδ + β γ = ∂xλ ∂ xα ∂ xβ ˜ ˜ ∂x ∂x ˜ ˜ (3) Note that the Euclidean coordinate system ξ ν is not needed to determine the transformation of Γ. (0) ∂xβ 11 . The result is ˜ ˜ 2 λ ˜ν ˜ρ ˜ν ˜ρ λ ˜ νρ ∂ x ∂ x ∂x + ∂ x ∂ x ∂ x . ∂ξ ν ∂xλ ∂ξ ν ˜ Therefore we can calculate Γµ (when Γµ is known) as follows. given the Christoﬀel symbol Γ in the original coordinate system {xα }.Also we can express ∂ xµ ˜ ∂ xµ ∂xλ ˜ = . we need to compute some derivatives. ∇ν uµ = ∇α uβ β ∂xν ∂x ˜ Consider a vector ﬁeld uµ .2 Transformations 2 µ ˜α ˜ ˜ ∂x ∂ x .γ λγ Aα B β This proves the required property. αβ αβ ∂ xµ ∂xλ ˜ ˜ Γµ = αβ ∂xλ ∂ξ ν = = ∂xγ ∂ ∂ xα ∂xγ ˜ ∂xδ ∂ ∂ xβ ∂xδ ˜ ξν ∂ xµ ∂xλ ∂xγ ∂xδ ∂ 2 ξ ν ˜ ∂ 2 xδ ∂ξ ν + β γ δ ∂xλ ∂ξ ν ∂ xα ∂ xβ ∂xγ ∂xδ ˜ ˜ ∂ x ∂ x ∂x ˜ ˜ ∂ xµ ∂xλ ∂ξ ν ˜ ∂xλ ∂ξ ν ∂xδ ∂ xµ ˜ . which will enable us to ˜ compute the Christoﬀel symbol Γ in the coordinate system ξ. Now we want to use the formula (3). 3. αγ . ˜ ˜ ∇ν uµ ≡ ∂ xν ˜ ∇ν uµ ≡ ˜ We can now express Γ through Γ.

4 4. Therefore these terms will cancel after a contraction with uβ uγ .λ ) uγ uµ .γ + gλγ. ∂ xβ ∂ xγ ˜ ˜ where Aα µβ At x = x0 we have Γµ = Γµ αβ (0)αβ . one denotes {xα } ≡ {ξ α }. ∂ 2 xλ = −Γλ (0)βγ + O x − x(0) . By assumption.µ − gµγ. Γ = Γ. the result can be found simply by assuming that ˜ ∂xα α = δβ + xµ − xµ Aα + O (x − x(0) )2 .γ + gλγ. = δβ − xµ − xµ Γα (0)µβ + O (x − x(0) ) (0) ∂ xβ ˜ Therefore Finally. ∂xα /∂ xβ . The geodesic equation can be rewritten for the 1-form uα as duα uγ uα.β ) uβ uγ . i. It follows that the new Christoﬀel symbol is equal to zero at x = x0 .e. the ﬁrst-order derivatives α α ∂x/∂ξ at x = x0 can be found as the inverse matrix to ∂ξ α /∂xβ = δβ . Γβ uβ uγ = Γβ αγ uβ uγ = αγ 4. ∂xα /∂ξ β = δβ .γ βγ ds 1 = uγ uα + g αλ (gλµ.γ ds where we must use an ordinary derivative instead of the covariant derivative (according to the deﬁnition of d/ds). i. 12 .e. µβ (0) ∂ xβ ˜ is an unknown matrix.γ 2 Therefore 1 uα uγ uα = − uα g αλ (gλµ.1 Geodesics and curvature Geodesics (a) Note that d/ds is the ordinary (not “covariant”) derivative in the direction of uα .γ = gαβ. This has the advantage that only derivatives ∂ 2 ξ/∂x∂x need to be computed.. ˜ Alternatively. .γ + gλγ.γ = gαβ.λ ) uγ uµ . αγ ds An explicit formula for Γβ yields αγ 1 (gβα. So we ﬁnd uγ gαβ uα uβ . one can use the transformation law for the Christoﬀel symbol in the inverse direction. we ﬁnd ˜ ∂ 2 xλ ∂ xµ ∂ xµ ∂xγ ∂xδ λ ˜ ˜ Γγδ + β γ λ Γµ = αβ λ ∂ xα ∂ xβ ∂x ˜ ˜ ∂ x ∂ x ∂x ˜ ˜ = Γµ − Γµ αβ (0)αβ + O x − x(0) . the derivative of the vector ﬁeld uα satisﬁes . αγ 2 b) We give two derivations.µ − gµγ. . the ﬁrst one is direct and the second one uses the property (a).γ uα uβ uγ + 2gαβ uα uγ uβ .γ uλ uµ uγ .1 First derivation d gαβ uα uβ = uγ gαβ uα uβ . 2 2 What remains is a straightforward computation: uγ gαβ uα uβ . + .λ ) uγ uµ = − gλµ.γ uα uβ uγ + 2gαβ uα uγ uβ .γ − gαγ. can be found by inverting this matrix.. x and not the derivatives ∂ 2 x/∂ξ∂ξ.α − gαγ.γ d α u + Γα u β u γ = u γ u α + Γα u β u γ = 0 βγ .γ uβ uγ .γ Note that = gαβ.γ uλ uµ uγ = 0.γ + gβγ.µ − gµγ.β is antisymmetric in (β ↔ γ).γ Now we need to simplify an expression containing uβ .γ uα uβ uγ − gλµ.The inverse derivative. Since all derivatives only need to be evaluated at x = x0 . {˜α } ≡ {xα }. This considerably simpliﬁes the calculations.γ 2 1 1 = − uλ (gλµ.1.. So up to quadratic terms we ﬁnd ∂xα 2 α . The remaining term yields 1 Γβ uβ uγ = gαβ. 2 Note that gβα...γ = 0 = − Γβ u β u γ .

2 Commutator of covariant derivatives u α = u α + Γα u λ .α uλ uβ uγ = uα uβ + u u . ds ds γ thus dgβγ αβ dg αβ dgλµ αλ βµ dg αβ gβγ = − g ⇒ =− g g . duα 1 = gβγ. ds ds Now we need to express uα.λ (x0 ) xλ dxγ .λ d xγ xλ = 0 = 13 xγ dxλ + xλ dxγ .4. Therefore δAα = dAα ds = ds Γβ (x)Aβ (x)dxγ ≈ Aβ (x0 ) αγ Γβ (x)dxγ . .β µγ βλ βγ . We use the identity d d α g αβ gβγ = δ = 0. These .γ uγ ≡ duα /ds.γ µγ βλ α uα − uα = uλ Γα − Γα + Γµ Γα − Γµ Γα = uλ Rλγβ .β βλ = u α + Γα u λ + Γα u λ + Γα u µ + Γα Γµ u λ − Γµ u α . ds 2 and ﬁnd dg αβ dg αβ dgλγ λ γ d g αβ uα uβ = uα uβ + g αβ gλγ. .βγ βλ. so we can approximate Aα by a constant. ds The parallel-transported vector can be represented by a 1-form Aα (s) such that uγ ≡ However.βγ . and also used the identity αγ. in a locally inertial system at x0 we have Γβ (x0 ) = 0.γβ terms are the following: uα .βγ βλ.2 Second derivation d d gαβ uα uβ = g αβ uα uβ = uγ g αβ . Γα u λ + Γα u µ . we can omit the terms that are symmetric in (β ↔ γ). dxγ = 0.αuβ uγ .µ The remaining terms are which yields uα = Γα uλ + Γα Γµ uλ + (symmetric in β ↔ γ) .γ λγ. Γβ (x) = xλ − xλ Γβ αγ 0 αγ. ds ds ds d g αβ uα uβ = 0.βγ . ds We write Therefore and thus 4. .γ µγ . Further. Therefore we can Taylor expand Γβ (x) near x0 as αγ αγ 2 .λ + O (x − x0 ) Therefore δAα ≈ Aβ (x0 ) β γ λ λ Γβ αγ. To do that.γ First compute + Γα u µ + Γµ u λ − Γµ u α + Γα u λ . ds ds ds ds It remains to express the derivative of g αβ through the derivative of gαβ .β . αγ Now.γ βλ .γ µγ .γ uβ uγ .γβ λβ γµ λγ βµ 4.λ x − x0 dx ≈ Aβ (x0 )Γαγ. λβ. . . ds ds ds ds dg αβ dgλµ αλ βµ dgλµ λ µ uα uβ = − g g uα uβ = − u u .β βλ u α = u α + Γα u λ . αg ds dxγ .β .µ Since we want to compute the commutator uα − uα .3 Parallel transport dAα − Γβ Aβ uγ = 0.βγ .βγ βλ . the closed curve is assumed to cover only a very small neighborhood of one point x0 . along the curve. Γµ u α .β βλ . we use the property derived in (a).1.γ uα uβ + 2g αβ uα.µ µλ µγ βγ .β βγ . Aα (x0 ). where we have again approximated Γβ (x) by its value at x = x0 .

which is already a consequence of (4). (4) (5) (6) However.. Rαβγδ = −Rβαγδ = −Rαβδγ . (6)]. For ﬁxed γ. therefore it is suﬃcient to consider these two properties [note that (5) does not follow from (4). Finally.λ − Γαλ. R12 = −g 12 R1212 . Therefore. let us check that every such constraint is nontrivial for every δ (even if δ is equal to one of α. n we obtain N2 additional constraints. the number of independent components of Rαβγδ is reduced to N1 = 1 n(n − 1) 2 2 . γ. Therefore.γ 2 1 β = Aβ Rαλγ xλ dxγ . δ. This is a nontrivial constraint (equivalent to Rαβαγ = Rαγαβ ). β = γ). the number of constraints is nN2 . . β). β. we have −g 12 g 11 = ggαβ . R = g αβ Rαβ = 2g 11 g 22 − 2g 12 g 21 R1212 = 2gR1212 . For instance. Therefore. γ are diﬀerent. Therefore. This tensor has the following symmetries. α = γ. since det g αβ = 1/g. Likewise for β = γ or for α = β. for each δ = 1. β. Then we can express the Ricci tensor as Rαβ = g λµ Rλαµβ .Therefore we may rewrite δAα ≈ Aβ Γβ αγ. Rαβγδ + Rβγαδ + Rγαβδ = 0. we ﬁnd R11 = g 22 R1212 . Now we use the property (5). the property (5) is a new constraint only if all three indices α. §8 c) There is only one independent component of Rαβγδ in two dimensions. 12 b) Weinberg. and thus the total number of independent components of Rαβγδ is N = N1 − nN2 = n2 n2 − 1 . γ are diﬀerent (i. α = β.λ xλ dxγ = 1 β Aβ Γβ αγ. There are N2 = 1 n(n − 1)(n − 2) 6 choices of such α. This matrix has 1 n(n − 1) independent components. If α = γ. then the property (5) becomes Rαβαδ + Rβααδ + Rααβδ = 0 (no summation). Suppose δ = α. Note that the matrix g 22 −g 12 g 22 −g 12 Therefore −g 12 g 11 is equal to the inverse matrix to g αβ (which is gαβ ).4 Riemann tensor a) It is more convenient to consider the fully covariant tensor Rαβγδ . Rαβγδ = Rγδαβ . we can choose R1212 as the independent parameter. we have that Rαβγδ is an antisymmetric n × n matrix (indices α. β. Calculating component by component. β. R22 = g 11 R1212 . it is known that the property (6) follows from (4)-(5). then (5) becomes Rαβγα + Rβγαα + Rγαβα = 0 (no summation). Let us ﬁrst consider the property (4). multiplied by the determinant det g αβ . 2 xλ dxγ 4. Suppose that α. Likewise for ﬁxed 2 α.. β. Let us see whether the property (5) is nontrivial at ﬁxed δ.. γ).e. 2 2 14 . 1 1 Gαβ = Rαβ − gαβ R = ggαβ R1212 − gαβ 2gR1212 = 0. Chapter 6.

which has 1 n(n − 1) independent components.2 Energy-momentum tensor 1 T αβ = −pη αβ + (p + ρ) uα uβ .1 Gravitation theory applied Redshift GM .) Therefore the redshift factor z(r) at distance r from the center of the Earth is g00 = 1 + z(r) = 1+ 2GM GM ≈1+ 2 . denote by RE the radius of the Earth. We know that the gravitational acceleration at the surface is m GM gE = 2 ≈ 9. where v is the 3-vector of velocity and |v| ≪ 1 in the units where c = 1. The condition β for H α is β (δ α + εH α ) δ β + εH β gαβ = gλµ . RE s 2 Therefore. Let us simplify this expression by introducing the time derivative along the ﬂuid ﬂow. µ λ µ Therefore. it is convenient to express GM = gE RE .β = −p. v). For a vertical distance L between sender and receiver. r In the weak ﬁeld limit. The EMT of an ideal ﬂuid is where uα is the 4-velocity vector of the ﬂuid motion. d ≡ uα ∂α . For n = 4 we get 6 2 components. These can be interpreted as three spatial rotations and three Lorentz rotations (boosts). In the nonrelativistic limit.β uα uβ + (p + ρ) uα uβ .81 2 . Hλµ is an antisymmetric n × n matrix. the Newtonian gravitational potential near a mass M is Φ= while the component g00 of the metric is 2Φ . we may approximate 1− RE RE + L = 1+ gE RE L . λ µ Consider an inﬁnitesimal Lorentz transformation. gαβ = ηαβ . we ﬁnd z(RE ) 1 + gE RE c−2 gE RE = ≈1+ −2 RE z(RE + L) c2 1 + gE RE c RE +L Since in our problem L ≪ RE . z(RE + L) c 10 m 5. uα ≈ (1. 5 5. λ λ µ µ Disregarding terms of order ε2 . c2 (RE + L) z(RE ) L gE L ≈ 1 + 2 ≈ 1 + 1.β + (p + ρ) uα . c2 (We write the units explicitly. Λα = δ α + εH α . λ λ λ The number of parameters in Lorentz transformations is the same as the number of parameters in H α .1 16 .4.5 Lorentz transformations A Lorentz transformation is represented by a matrix Λα such that β Λα Λβ gαβ = gλµ . In the nonrelativistic limit. The conservation law is 0 = T αβ . we ﬁnd α 0 = δ β H α gαβ + δλ H β gαβ = Hµλ + Hλµ .β uβ . 2r c c r To compare the redshift factors at the surface of the Earth.α + (p + ρ). we may disregard gravitation. dt 15 .

In our notation. we get Φ.) The calculation goes like this: R00 = Γα − Γα + O( Γ Γ ). ˙ This is the relativistic continuity equation.β ) = −η αβ Φ. somewhat more comprehensive solution.0 − g00. dv 1 = dt p+ρ −∇p − v dp dt . not true for relativistic matter.) This is the Euler equation. covariant derivatives do not commute αβ βα when applied to vectors!) and also the property Φ.λα Here we used Φ.α .α Φ. see below. Eq. v).α + uα p + (p + ρ) uα . for any quantity X we have ∂ d ˙ X ≡ X ≡ X + (v · ∇) X.α Φ . to Eqs.β .β .αβ X α .αβ = − Φ = −Φ. we ﬁnd from Eq.just ρ.β Compute the covariant derivative. dt ∂t The continuity equation (8) gives dρ + (p + ρ) divv = 0.j = −∇j p. such as photons (electromagnetic radiation) for which p = 1 ρ.00 + Φ.α . (8) and (9). so it is . which is due to gαβ.α = 0. we ﬁnd ˙ ρ + (p + ρ) uβ .α 0α.α . we write gµν = ηµν + hµν .βα which follows from Γλ = Γλ (note that Φ is a scalar.0 1 αβ α Γ00 = η (g0β.0 = 0) R00 = −η αβ Φ.β = 0 then also Φ. Using this equation. 3 16 . 2 therefore (using Φ. dt This is the ordinary.β = 0. (7) that 0 = −p.1 Finally. and also we may raise and lower indices using ηµν instead of gµν . ˙ (Note that p. 5.α Φ.β + (p + ρ) uα .33 = ∆Φ.) We may disregard terms of order ΓΓ 00 because Γ is of order Φ. (This is somewhat heuristic.4 Weak gravity A very short solution is to write R00 directly through Γ and note that only Γα 00.λ Φ.α αβ Φ.β − g αβ Φ.α + uα p + ρ + (p + ρ) uβ . there is no p + ρ . 1 Note that in the usual. −g . ˙ ˙ ˙ Contracting with uα and using uα u = 0.λ 2 =Φ . if Φ.α .11 + Φ. so p ≪ ρ and p + ρ ≈ ρ.0 + gβ0.β = 0 is a weaker condition than Φ. however.β X α = Φ.αβ = Φ. this entails Φ.0 = 0. i. uα ≈ (1.β = 0. This is so because in most cases the matter is nonrelativistic.α suﬃcient to write the latter). In the weak ﬁeld limit. Therefore. Here is another.e.α Φ. nonrelativistic continuity equation.α .α comes in (if we disregard terms of second order). ˙ ˙ (9) (8) α (7) Now let us apply the nonrelativistic limit.α = 0 (since Φ. nonrelativistic continuity equations as they are written in most books.α = 0.α = Φ. 00.α . (9) gives ˙ ∇p + v p + (p + ρ) v = 0.λ Φ. +Φ Φ .α .22 + Φ.β .µ = 0.3 Energy-momentum tensor 2 1 T αβ .α = Φ. (Assume that gαβ. 5.Then we ﬁnd 0 = −p. This is. Then compute Γα explicitly through Φ.

ds Finally.αβ .βλ + hβγ. So it is suﬃcient to compute just the Newtonian potential Φ. not just h00 . ⇒ Γ ∼ O(Φ).α − hαν. The actual metric gµν is equal to ηµν plus a small ﬁrst-order deviation.ν + hνγ.g.γ ) .0λ + h0γ.λβ + hλγ. one needs all components of hµν .ν = 0 through ordinary derivatives. Let us do the computation through hµν in a more general way.γλ − hλγ.Then we only compute everything up to ﬁrst order in hµν . we can rewrite dxµ ∂ d (4) α δ (x − xα (s)) δ (4) (xα − xα (s)) = − ds ∂xµ ds (this is easily understood if read from right to left) and then integrate by parts. In principle. when one only wants to compute eﬀects of gravitation on motion of slow bodies.ν . Therefore.λ − Γαλ.0 = 0) and h00 = 2Φ: R00 = 1 λγ 1 η (h0γ. αβ ds2 ds ds 17 . but this deviation cannot be expressed just through the Newtonian 1 potential Φ ≡ 2 h00 . 0= √ dxν d (4) σ δ (x − xσ (s)) = − ds ds ds d2 xν (4) σ δ (x − xσ (s)). 2 Let us now compute just the component R00 . ∂ 1 ∂ √ 1 −g = − √ gg αβ gαβ.γλ 2 2 = −η λγ Φ. 2 λ λ λ = Γλ αβ. The given relations are useful.5 Equations of motion from conservation law We would like to rewrite the covariant conservation law T µν . ds ds αβ Since in the ﬁrst term the dependence on xσ is only through δ (4) .µ + Γµ T αν + Γν T µα = √ −gT µν αµ αµ −g Apply this to the given T µν : m0 0 = T µν .) Now we compute (again up to ﬁrst order in Φ) Γλ αλ. 2 2 1 = η λγ (hαγ. To compute trajectories of light rays.ν + gνα.αλ − hαβ. dxα dxβ d2 xν + Γν = 0.γβ ) = η λγ hλγ. (We may disregard the ΓΓ terms since they are second order in Φ. But e.µ = m0 ds dxα dxβ (4) σ d2 xν δ (x − xσ (s)). only g00 is necessary. one needs to solve the full Einstein equations to ﬁnd hµν . ds2 −g µν T .0λ − h00. we may raise and lower indices using the Minkowski metric ηαβ instead of gαβ . trajectories of light rays cannot be computed accurately in the Newtonian limit (because light does not move slowly). Therefore.λγ = ∆Φ.α ) = g µα gµα. + Γν αβ 2 ds ds ds This is a function of xσ which should equal zero everywhere. However.αβ ) . αβ .µ = √ −g m0 +√ −g ds dxµ dxν (4) σ δ (x − xσ (s)) ds ds α β .µ − gνµ. in other words.00 ) = − η λγ h00.µ ds dx dx ν Γ (x)δ (4) (xσ − xσ (s)). 5.αβ − hαλ. First we compute the Christoﬀel symbol and the Ricci tensor: Γλ = αν λ Rαβ = Rαλβ 1 λγ η (hαγ.β + ΓΓ − ΓΓ ≈ Γαβ. one needs to determine other. “post-Newtonian potentials” and not just the Newtonian potential Φ. the integrand should vanish for every value of s. recalling that hµν is time-independent (so hµν.ν = √ −g. let’s derive them ﬁrst.β = Rαβ 1 1 λγ η (hαγ.γλ − hλγ.ν + Γν T αβ . µν 2 2 −g ∂xν Now rewrite the covariant derivative of T µν explicitly: √ 1 µν T µν . 2 1 ∂ √ 1 1 Γµ = g µα (gµα.β .µ = T. hµν .λ − Γαλ.ν g =− √ ∂xν 2 −g ∂xν 2 −g 1√ = −gg αβ gαβ. Note: the Newtonian limit does not determine the components of gµν except for g00 = 1 + 2Φ.

where φ(x) is an arbitrary function of spacetime. and that we have relations such as ηλλ ηαλ = δα and β δα ηαα = ηαβ . Using this gauge symmetry. (12) as Γλ = αβ where we deﬁned the auxiliary function Aα 1 λ λ δ Bλ. there is also a gauge symmetry. Γλ = αβ µ g αβ = η αβ 1 Aα (no summation!). 2 α Aλ Bα ≡ ln Aα . or one scalar ﬁeld. ˙ dE = (mv + V ′ (x)) v ˙ dt However.Remark: in general. Then only three functions of spacetime (A1 . Since the metric has a diagonal form.α = Aα 2 λ √ Bλ.β + ηβµ Aµ. or some number of point particles). (10) 1 λµ 1 [ηαµ Aµ. Since these functions φ(x) are functions only of three arguments. A2 .α . and one cannot hope to derive them from a single conservation law. Let us also denote for brevity C ≡ ln √ −g = Bλ . the equation of motion for a particle follow from the conservation of energy only if the motion is in one dimension: E= 0= mv 2 + V (x) = const. The situation in ordinary mechanics is similar: e. let us denote gαβ = ηαβ Aα .α − ηαβ Aα. Γλ = αλ λ 1 Bα. Ψ do not follow from the conservation of their combined Tµν . This would give 4 degrees of freedom.β + δβ − ηλλ ηαβ . = δα 2 Aλ 2 Aλ 2 Aλ λ Note that the summation over µ results in setting λ = µ due to η λµ .1 Spherically symmetric spacetime Straightforward solution A direct computation listing all the possible Christoﬀel symbols and components of the Ricci tensor is certainly straightforward but very long. where Aα ≡ eN . However.2.α . we shall substitute the known functions Aα and use the resulting simpliﬁcations. Aµ → Aµ + φ. αλ 18 . we rewrite Eq. We begin with the calculation of the Christoﬀel symbols. These ﬁelds have two diﬀerent equations of motion. they do not change the number of degrees of freedom.α − 1 2 1 Aα Bα.α + 2 λ Bλ. Hence the electromagnetic ﬁeld has 3 degrees of freedom.λ . For convenience.α = ln −g . 2 ⇒ mv = −V ′ (x). r2 . At the end of the calculation of the Ricci tensor Rαβ . For this calculation.g.µ . equations of motion do not follow from conservation of energy if there is more than one degree of freedom. Similarly. equations of motion for say two scalar ﬁelds Φ. However. (e. which hold without summation. There are additional gauge symmetries involving functions φ(x) that do not depend on time. we compute the “trace” of the Christoﬀel symbols and compare with the known formula. A3 ) are left. one ﬂuid.g. 6 6. we do not use the Einstein summation convention any more. r2 sin2 θ (11) is a ﬁxed array of four functions. and that ηλλ = η λλ . equations of motion do not follow from conservation law. set the component A0 (x) = 0. we may e. eL . but they do follow if there is only one ﬁeld.λ 1 λ Aλ.2 6. we make heavy use of the fact that ηαβ = 0 only if α = β.β + δβ Bλ. Here is a way to compute the curvature tensor without writing individual components. every summation will be written explicitly. λ λ Γλ = C. 6.g.α 1 Aα.1 The gravitational ﬁeld Degrees of freedom The electromagnetic ﬁeld is described by a 4-vector potential Aµ (x). As a check.µ ] η 2 Aλ (12) 1 λ Aλ.α − ηλλ ηαβ Bα.

β + δβ Bλ.α Bµ.β Bβ.β µ Aα Bα.β Bβ.λ .α Bα.λ Bα.β Bβ.λ − Γαλ.β − Bβ.µ Aµ 1 + 4 1 1 + Bβ.β Bβ. we put all the terms together: Rαβ = 1 Aα Bα.µ Bα.α Bµ.β + C. We use the formula (with Landau-Lifshitz sign conventions) Rαβ = λ λ Γλ αβ.µ Aµ ηλλ ηαα λ Aλ Aα α α Bα.β Bβ.α − 2 2 2 4 Bµ. αµ βλ λµ αβ We now compute the necessary terms: Γλ αβ.α − ηλλ ηαµ µ µ δλ Bµ.α − ηµµ ηαβ µ Bµ.µ − ηµµ ηµβ Aα Bα.λ − ηµµ ηλβ 1 = 4 + − = 1 4 1 4 µ µ µ Bα.α Aλ 4 1 Aα Bα. .α − ηαβ 2 2 Finally.λ Bα.α ) 2 1 − 4 (only for α = β) 19 .β .λ + Bα.λ Aλ 1 1 + C.α − ηαβ 2 Aα Bα.µ 1 4 λ.αα − ηαα Aα 2 ηλλ λ Bα.µ Aµ (here set λ = α) (here set λ = µ) (here set µ = α) µ Aµ Bµ.β + δβ Bµ.αβ 1 − ηαβ Aα 2 ηλλ λ Bα.λ .β 4 4 ηλλ λ 1 1 − Bα.λ 1 λ Aα 1 1 λ δα Bλ.β + C.α Bα.β .β = C.µ + Aµ 4 Bµ.λ Aλ + C.β + δβ Bα.λ δλ Bα. λ Γµ Γλ = λµ αβ λ.λ Aλ 1 1 1 1 + C.α Aλ Aα ηµµ µ 1 1 1 Bα.β + Bα.α Bβ. µ Bλ λ .β .µ Aµ Γλ Γµ = αµ λβ λ.α Bβ.α Bα.α − ηαβ 4 4 4 Bµ.αβ + Bβ.β + λ.α − Bα.We proceed to the computation of the Ricci tensor.λ .λ Aλ Aα Bα.µ λ λ δα Bλ.µ δα Bµ. µ ηµµ µ 1 1 Bα + Bβ − C 2 2 . µ We can simplify this expression by considering separately diagonal and oﬀ-diagonal components: 1 Rαα = (Bα − C).β − ηαβ 4 4 1 1 = Bα.λ Aλ .λ − ηαα ηλβ Bλ.λ 2 2 2 Aλ C.β Bβ.α Bµ.µ Γµ Γλ − Γλ Γµ .α Bα.α Bµ.β + δβ Bµ. µ Bµ.β Bβ.λ Γλ αλ.λ = λ 1 1 1 Bα.µ + δµ Bλ.α Bµ.µ Bα.β Bβ.α Bα.α Bµ.αβ + 1 (C.α − Bα.λ ηλλ λ = 1 C.λ Aλ + C.α − ηλλ ηαβ Bα.α − 2 4 Rαβ = 1 2 Bα + Bβ − Bµ.α − Bα.α Bα.µ λ C.α .αβ − ηαβ 2 2 2 ηλλ λ Aα Bα.β + δβ Bµ.β + C.λ Bα.αβ . Aλ Aλ Bλ.

2r r = Rrφ = Rθφ = Rtθ = 0. √ N +L + 2 ln r + ln sin θ.θ = cot θ − 2 4 2 r 4r ˙ ˙ ˙ 1 N +L ′ 1 ˙ 1˙ L 2 ˙ N ′ + L′ ˙ = L − N L′ − N N ′ − LL′ = . 2r r r N ′ − L′ 1 = 1 − r2 e−L + 2 . the nonzero components of the Einstein tensor are Gtt = eN −L Gtr = Grr Gθθ L′ eN + 2. C. We have At = eN .φ = 0. 1 Gφφ = − r2 sin2 θ e−N 2 N ′ − L′ L′ − N ′ 2 + 2 − N ′′ + N ′ r r 2 20 . N + + 2 2 2 r 4 4 r = −r2 sin2 θ L′ − N ′ 2 1 −N ′′ + 2 + N′ + eL−N 2 r 4 2 ¨ ˙ ˙ −L ˙ N − L + 1 eN −L N ′′ + +L 2 4 2 ˙ ˙ ¨ L−NL ˙ L+ 2 N ′ − L′ 2 + 2 r 1 + L′ . Br = L. 1 1 2 12 1 2 cot θ = 0.θ = cot θ. Bφ = 2 ln r + 2 ln sin θ.λ 1 2 2 Rφφ = r sin θ ηλλ 2 Aλ λ + C. r2 Hence. r r r N ′′ 1 L′ − N ′ N ′ − L′ + 2 +− + N′ = −r2 e−L − 2r r 2 4 ˙ ˙ ¨ ˙N −L −L + L 2 − e−L − + r2 e−N 2 ˙ ˙ ¨ ˙N −L −L + L 2 .λ . we compute the Ricci scalar. Finally.r = + . C = ln −g = 2 ˙ ˙ N +L N ′ + L′ 2 C.λ ln r2 sin2 θ Aλ Rθθ Rtφ Rrθ Rtr 1 1 N ′ − L′ + 2 e−L − 2 .Now we need to simplify this expression further by using the speciﬁc form of the metric (10)-(11). C. Bθ = 2 ln r. We ﬁnd (after some omitted algebra): ln r2 sin2 θ . .r Bφ. Aθ = r2 . Ar = eL . r r ˙ L . r . Aφ = r2 sin2 θ.t = .λ Rrr = Rtt = N′ .θ Bθ. = C. R= λ ηλλ 1 Rλλ Aλ ˙ ˙ ¨ L ˙ N −L +L 2 4 1 + e−L N ′′ + 2 N ′ − L′ 2 + 2 r N′ = e−N − e−L − − −N ′′ 1 L′ − N ′ 2 1 + 2 + N′ + L′ − e−N 2 r 4 r 2 ˙ ˙ ¨ L−NL ˙ L+ 2 1 + e−L r2 = e−N 1 N ′ − L′ N ′ − L′ 1 1 + 2 + + 2 e−L − 2 2r r 2r r r ′ ′ ′ ′ ˙ ˙ ¨ ˙ N − L − e−L −2 N − L − N ′′ + N ′ L − N −L + L 2 r 2 − 2 . r 2 N′ eL = 2 + − 2. Bt = N. 2 2 r Note that the term 1 2 Bα + Bβ − Bλ λ .r − Bφ. C.αβ (13) always vanishes when α = β.

22 − A.1 − δb eA1 −Aa A1.1 A.2 eA−B + B. The relationship between the curvature tensors under a conformal transformation is found as follows. γ11 1 γab R. It is clear that Rαβ will also be a direct sum of the corresponding two-dimensional Ricci tensors.c ) = 2 2 Γ2 = 12 1 B. Γ2 = − eA−B A.1 . set A ≡ A1 .b . 11.2 .b + γbc. we know that the Ricci tensor is proportional to γab .2 . and indices a. λ λ ν λ ν λ Rαβ = Rλ αλβ = Γαβ.2 . For a two-dimensional metric γab .2 eA−B A.b ) = (A + B). γ11 2 2 Well. 2 Γ1 12 1 = A. 2 a 1 1 1 a Γa = A1.. λ ˜ αβ Γλ = Γλ + Bαβ . range from 1 to 2. −2 L r e 0 −r−2 eN .1 . 2 2 2 Then the component R11 of the Ricci tensor is R11 = Γa − Γa + Γa Γb − Γb Γa 11.1 . γ11 R = γ ab Rab = 2 R11 . namely (see Problem 4..2 − B. gαβ = e2Ω gαβ . Let us at least derive the useful formula below.1 ba 11 1a 1b 1 1 1 = Γ1 + Γ2 − (A + B). this shows that at least this is not obviously wrong) R=2 R11 1 1 = −e−A B.λ − Γλα.22 − A. A more clever way to reduce the amount of computation is to notice that the metric gµν is simpliﬁed after a conformal transformation.1 ba 11 1a 1b and afterwards we will have Rab = γab R11 . 2 R ≡ γ ab Rab = 2 (det γab ) R1212 . The calculation of Rαβ for the metric hµν is much simpler because hµν is a direct (“block”) sum of two metrics deﬁned on 2-dimensional spaces.1 A.2 Γ2 − Γ1 Γ1 − 2Γ1 Γ2 − Γ2 Γ2 11 11 11 11 12 11 12 12 11.β + δβ Ω.b δ1 + δb Ab.4c) Rab = So it is suﬃcient to compute say R11 . We shall ﬁrst compute the Ricci tensor for the metric hµν and then determine how Rαβ changes under a conformal transformation. First we deﬁne the conformally transformed metric for convenience as follows.β + Γµν Γαβ − Γβν Γαµ . c. 2 2 4 4 We also ﬁnd (note the symmetry apparent in this formula.1 11.6.11 + (A + B). γ (γ1c.2 (A − B).11 − 2 2 2 2 2 2 2 4 2 4 1 1 1 1 = − B.1 (B − A).2 (A − B). R11 = Γa − Γa + Γa Γb − Γb Γa .1 − γ1b. gµν = r2 hµν = r2 1 0 sin2 θ The necessary Christoﬀel symbols are found as (no implicit summation from now on!) Γa = 1b c 1 1 ac a a 1 A1. The Riemann and the Ricci tensors are deﬁned (in Landau-Lifshitz sign convention) by ν λ ν λ λ λ Rλ αµβ = Γαβ.11 − eA−B A.1 = A.2 − A.a .a 1a. 11 11 11 2 2 2 1 1 1 a Γba = ∂b ln (det γcd ) = (A1. 21 .1 (A − B).a 1a.2 eA−B A.λ .2 Solution using conformal transformation The metric hµν separates into the r − t components and the θ − φ components.µ − Γαµ.2 e−B − e−A B. B ≡ A2 . ˜ λ Then the Christoﬀel symbols receive a correction which is a tensor Bαβ . b.11 − e−B A.2 − (A + B).. eB in two dimensions.1 Γ1 + (A + B).2. Γ1 = A. Let us ﬁrst compute the Ricci tensor for a diagonal metric γab = diag eA . But this is roughly how it goes. αβ λ λ λ Bαβ ≡ δα Ω.1 − (A + B).1 B.2 2 2 2 1 1 1 A−B 1 1 1 1 1 1 1 e A. we are not going to ﬁnish this calculation here.β + Γλν Γαβ − Γβν Γαλ .α − gαβ Ω. anyway.1 .11 + (A + B).a .b + A2.1 δ1 − eA1 −Aa A1.1 + A.

λ .λ (δα Ω.ν + 2gαβ Ω.λ + δλ Ω.˜ ˜λ The same relation holds for Rλ αµβ and Rαβ through Γαβ (note that these relations do not involve the metric gαβ explicitly).λ − (2 + N ) Ω.λ = 0.β + 2gαβ Ω.α .ν Γν + (N − 2) Ω.α .α .λ + Ω.α Ω.α − gαλ Ω.λ Ω. where f ≡ 1 − rg /r.β + δβ Ω.α Ω.µ − Bαµ.λ + Γλ Ω.α − 2 (N − 1) Ω.λ Ω.λ .α − Ω.α − gαβ Ω.λ Ω. we compute λ λ Bλα = δλ Ω.α Ω.α Ω.β − gβν Ω. αβ λν αλ βν We shall only compute the expression for the Ricci tensor Rαβ .β + Γλ Ω.λ .λ Ω.β + Bλν Γν + Γλ Bαβ + Bλν Bαβ − Bβν Γν − Γλ Bαλ − Bβν Bαλ . αλ βλ so the resulting formula can be written more concisely as ˜ Rαβ − Rαβ = (N − 2) [Ω.λ 6.λ Γν αλ = 2Ω.α + gαλ Γλ Ω. The modiﬁed Ricci scalar is ˜ ˜ ˜ R = g αβ Rαβ = e−2Ω g αβ Rαβ + e−2Ω g αβ (N − 2) [Ω.β − Ω.λ = − (N − 2) Ω.α + (N − 2) Ω.λ + gαν Γν Ω. As a preparation.β − Ω.α Ω.α . we transform in a clever way the expression 0= d d ˙ ˙ ˙ f t2 − f −1 r2 − r2 θ2 − r2 φ2 sin2 θ .α − gαβ Ω. −1/f.α Ω.ν Ω.α . Therefore λ λ λ λ ν λ ν λ ν λ ν λ ν λ ν ˜ Rλ αµβ − R αµβ = Bαβ.λ .λ + Ω.ν + δν Ω.β + δβ Ω.ν Γν + Γλ δα Ω. λ λ ˜ Rαβ − Rαβ = δα Ω. λ λ λ ν λ ν λ ν λ ν ˜ Rαβ − Rαβ = Bαβ.λ + Ω. θ.λ ˜ ˜ 2 1 − gαβ [R − (N − 2) (N − 1) Ω. −r2.λ − Γλ Ω.λ − Bλα.α − 2 (N − 1) Ω.β + Bµν Γαβ + Γµν Bαβ + Bµν Bαβ − Bβν Γαµ − Γβν Bαµ − Bβν Bαµ .β − gαβ (N − 2) Ω.β + gβν Γν Ω. −r2 sin2 θ . = e−2Ω R + e−2Ω (N − 2) [Ω.ν + δν Ω.ν ) βν + 2N Ω.λ + Ω.αβ − gαβ Ω.λ Ω.αβ ] − gαβ (N − 2) Ω.β − N gαβ Ω.ν − δβ Ω.β − Ω. So we compute term by term.λ + Ω.λ Ω. 2 Note that there is no change in Gαβ in two dimensions (since the Einstein tensor is always equal to zero).α − gαβ Ω.λ − Γλ Ω.λ − gαβ.λ .ν βν αλ αβ λβ αβ λα = −gαβ Ω.α } .αβ ] − gαβ (N − 2) Ω.β − Ω.λ ν ν − N Ω.α Ω. ds 2 ∂r The equation for the covariant component u1 (s) is ˙ ˙ ˙ ˙ Using the metric gαβ = diag f. αλ βλ Now we note that some of the Γ terms can be absorbed into covariant derivatives.β + δβ Ω.ν − Γλ Ω.ν αβ λν .λ ν ν λ λ ν ν − Γλ (δα Ω.β − gβν Ω.α Ω.ν Γν + Γλ Ω. gβν Γν Ω.λ − gαβ Γλ Ω. We shall always raise and lower indices using the original metric gαβ .λ Ω.λ − gαβ.λ − N Ω. and uα = t. we ﬁnd 1 d −f −1 r − ˙ dλ 2 df ˙2 d t − dr dr 1 f ˙ ˙ r2 − 2rθ2 − 2rφ2 sin2 θ ˙ = 0. φ . ˙ K= dλ dλ 22 .α ≡ N Ω.αβ ] − gαβ (N − 2) Ω.λ + δλ Ω.α Ω.ν − Γν Ω.λ + gβν Γν Ω.λ + gαν Γν Ω.α Ω. where ˙ ≡ d/dλ.α − gαβ Γλ Ω.ν − N gαβ Ω.αβ + N Ω. and also that the terms in the last bracket cancel.3 Equations of motion du1 1 ∂ − uα uβ (gαβ ) = 0.ν ) − δβ Ω.λ Ω. 1 ˜ ˜ Gαβ = Rαβ − gαβ R = Rαβ + (N − 2) [Ω.αβ ] + gαβ Ω.αβ + N Ω.λ = e−2Ω {R − (N − 2) (N − 1) Ω.λ .λ λν . (14) To derive this equation from other equations given in the lecture.λ − gαβ.ν δα Ω.ν αβ λν .α − gαλ Ω.λ Ω.α Ω.α .α ] − N (N − 2) Ω.λ λ λ ν ν + N Ω.α ] 2 (N − 2) (N − 3) = Gαβ + (N − 2) [Ω.αβ − Ω. The Einstein tensor is modiﬁed as follows. λ where N = δλ = gαβ g αβ is the number of spacetime dimensions.λ Ω.ν λν αβ λα λβ .ν Ω. r.

4 R0 The total deﬂection angle is found as δ = φ1 − φ2 − π. we try to separate terms of the form d dλ (uα ) out of the terms of the form d dλ (uα uα ) in the following way.1 Weak gravitational ﬁelds Gravitational bending of light d2 dφ2 1 r 1 3 rg . where φ1. Since rg ≪ R0 . Therefore. any one of these ﬁve equations is a consequence of four others. The unperturbed solution is v0 (φ) = 1 cos φ.g. ˙ ˙ ˙ f t2 = 2 t dλ dλ dλ etc. cos φ = ± + 2.. and also evaluate derivatives of the metric.β = 0. (no summation!).. 2 rg rg rg Only the solution with the minus sign is meaningful (cos φ < 1). = r 2 r2 2GM ≈ 3km. 7 7. Then ′′ v1 + v1 = 3 rg 3 rg 2 2 cos φ = 4 R2 (1 + cos 2φ) .µ = 0. we may expand this in Taylor series and ﬁnd rg 3 3 + O(rg /R0 ). d d d d u1 u1 = g11 u1 u1 = 2u1 g11 u1 − u1 u1 g11 dλ dλ dλ dλ For example. Introduce an auxiliary variable v(φ) ≡ r−1 and solve the equation v ′′ + v = perturbatively. R0 3 rg v 2 2 where R0 is the distance of closest approach to the Sun. − 2φ dλ dλ Now we substitute the given equations (2)-(4). uβ uα .Namely. A= 3 rg 2. c2 In the lecture it was shown that the trajectory of a light ray in polar coordinates satisﬁes the equation + rg ≡ where M is the mass of the Sun. 4 R0 B=− 1 rg 2. assuming that v is small.2 are ﬁxed by the condition v(φ) = 0. We ﬁnd 0= d d ˙ ˙ ˙ f t2 − f −1 r2 − r2 θ2 − r2 sin2 θφ2 ˙ K= dλ dλ ˙ ˙ ˙ ˙ ˙ ˙ d f t − t2 df − 2r d f −1 r + r2 d f −1 − 2θ d r2 θ + θ2 d r2 ˙ ˙ ˙ = 2t dλ dλ dλ dλ dλ dλ ˙ ˙ ˙ d r2 sin2 θφ + φ2 d r2 sin2 θ . d ˙ d f t − t2 d f. We ﬁnd a quadratic equation 2 2R0 R0 R0 cos2 φ − cos φ − 2 = 0. v(φ) = v0 (φ) + v1 (φ) + . cos φ ≈ − R0 23 . ˙ dλ f This is obviously equivalent to Eq. df /dλ = f ′ r. (14). so ˙ ˙ ˙ 0 = − t2 f ′ r − 2 r ˙ =r ˙ d f′ ˙ ˙ ˙ ˙ ˙ ˙ f −1 r − r2 2 r − 2θr2 φ2 sin θ cos θ + θ2 2rr + φ2 2r sin2 θr + 2φ2 r2 θ sin θ cos θ ˙ ˙ ˙ ˙ ˙ dλ f d f′ ˙ ˙ ˙ ˙ −2f −1 r − f ′ t2 − 2 r2 + 2rθ2 + 2rφ2 sin2 θ . v1 (φ) = A + B cos 2φ. 2 R0 0 The solution is found with undetermined coeﬃcients. Note: the reason one of the equations follows from other equations is that the equation uα uα = const is a consequence of the four geodesic equations. e. when we consider the four geodesic equations and the equation uα uα = const. and the fact that gαβ.

i. where (. Also note that for any quantity X we have ˙ X .2 Einstein tensor for weak ﬁeld For this problem Chapter 4 from the book Norbert Straumann “General Relativity and Relativistic Astrophysics” is useful.µ denotes a derivative ∂µ (.µ − hµν. h µ .. R0 2rg R⊙ 2rg /R⊙ = . thus 1 hµν ≡ γµν − 2 ηµν γ.i + Si .λβ = γ + γνλ.µν .µλ 2 2 µ. Here one can ask the students about the symmetry of this tensor.” 2nd German edition.λ λ. . 7.µν − ηµν hλβ + ηµν h . the angle φ is very close to π/2. we have Gµν = 1 λ λ γ + γν. (16) . 489 × 10−6 = = 1. φ1..β ] = ν. 489 × 10−6 × 360◦ /2π × 3600 [arc seconds] (see R.λ .βλ h. 2 ε≈ rg . Oloﬀ “Geometrie der Raumzeit. g00 = 1 + 2Φ..νλ hµν − h.µ µν 2 2 µ.e.g. or ﬁnally Gµ = ν 7. 96 × 105 km and rg = 2.j . therefore 2rg /R⊙ = 8.).ν 1 µ. We have gµν = ηµν + hµν and Rµν = Γλµν. so we can write these indices in any position.βλ = 2 µ.µλ 2 µ.2. Using Eq.νλ Thus in the linear approximation we have 1 1 λ Gµν = Rµν − ηµν R = h + hλ − ν.i = hij = hij η ij = 0.).ν (15) where as usual we use the convention that indices are raised or lowered with η µν .λ .i = Fi . All 3-dimensional ν indices are raised and lowered using δij .3 Gravitational perturbations I The metric is written as gµν = ηµν + δgµν . Rµν = ν. 2 µλ. We shall use the formula for Gµ derived in Problem 7.i where Si. 1 Let us introduce a new variable γµν ≡ hµν − 2 ηµν h. (15) β we have 1 λ h + hλ − hµν − h.j = X.Therefore.λ γν − δν γλ.ν µ µ β. R0 /R⊙ R⊙ R0 For the Sun we have R⊙ = 6.νλ 1 . And for the Ricci scalar we obtain λ R = η µν Rµν = hλν − .λ − 2 λ. page 151). Furthermore 1 α 1 . j δgi = −δgij .ν + hνβ. −X. as convenient: j 0 δgj = δg0j = −δg0 . 954 km.ij + Fi.. 751” 8. The traces of two tensors h and γ are related by γ = −h.µ γ + γν.νλ where = η µν ∂µ ∂ν and h = hλ = η λα hαλ .i + hij . gij = −δij + 2Ψδij + 2E.ν .µλ − γµν − ηµν γ λβ . hij = hji . Γα = η αβ [hµβ.2 = ± This formula can be rewritten as δ= π +ε . hα ≡ η αλ hλβ . g0i = B. thus e.j + Fj. R0 ⇒ δ = 2ε = 2rg .α h + hα − hµν . 2 24 ¯ ≡ δg µ .λ − Γλλµ.β .µ − γµν − ηµν γβλ . Inserting the last expression for hµν in Gµν . We need to write the components of 1 µ¯ µ µ γν = δgν − δν h.

h µ 0 γ0 = Φ + 3Ψ + ∆E.the origin of the minus sign here is γj. (16).λ 0. 2Ψδij + 2E.j − ξj.j + Fj.i .0 . Under an inﬁnitesimal transformation xµ → xµ + ξ µ .j + γj. (17) in full.j = Φ + 3Ψ + ∆ E − B .λ 2Gi = γλ.i . k2 25 Vj (V ) ≡ Vj − ikj Vl kl = Vj − ikj V (S) . (18)-(20) and pass to the Fourier space (where every variable is a function of a 3-vector k).i − j i i β.λ = −γ0j − γi. V (S) ≡ Vl kl .0 j.j + ∆Sj − ∆Fj .i − Si + (Φ − Ψ + ∆E).0 .j − ξ⊥j.j + ((Φ − Ψ − ∆E) δij + 2E.j − Sj + (Φ − Ψ + ∆E). k2 (21) .j + ∆Fj . and we use the fact that the background metric is diagonal.0 − 0 0 0 β.ij . and the decomposition ξµ = ξ 0 .ij ¨ ¨ ¨ ˙ Φ + 3Ψ + ∆E − 2∆B + ∆ (Φ − Ψ + ∆E) .λ + γλ . 0 g0i → g0i − ξ. Then we compute each component of Gµ separately: ν 0. j 0 γj = B. B.4 Gravitational perturbations II γ γ gαβ → gαβ − gαγ ξ.j ˙ + ∆Fj ˙ ˙ ¨ ¨ − B.i − ξi .λ = −γλ.i + ∆Fi .β − ξβ. by the Euclidean spatial metric δij rather than by ηij .i + hij → 2Ψδij + 2E. ξ⊥i + ζ.j + Fj.λ 0 ˙ ˙ ˙ γλ = γ0 − γj. the covariant components ξµ .i . .λ j λ ˙ ˙ γλ = −γj.i + Si → B.j − ξj.i − hij )..i ˙ ˙ ˙ = −B.i − ξi.λ λ.λ j.j + Sj ) = 4Ψ.i − hij = γi .β − gβγ ξ.β = 2 Φ + 3Ψ + ∆ E − B − ∂0 ∂0 (Φ + 3Ψ + ∆E) + ∆ (Φ + 3Ψ + ∆E) ¨ ¨ ¨ ˙ − Φ + 3Ψ + ∆E + 2∆B − ∆ (Φ − Ψ + ∆E) = 4∆Ψ. we adopt the convention of raising and lowering the spatial indices i.i − 2ζ.using the 3+1 decomposition: ¯ = δg µ = η µν δgµν = 2 (Φ − 3Ψ − ∆E) . i..i + ¨ ˙ ¨ hij − 2δij 2Ψ + ∆ Φ − Ψ − B + E λ.j − Sj + (Φ − Ψ + ∆E).j + Sj + ∆ (B. A vector Vi is decomposed into scalar and vector components as follows. (18) Substituting the perturbation variables from Eq. 0.j + ∆Fj . This will get rid of some minus signs. gij → gij − ξi.j ¨ ¨ ˙ ˙ ˙ −∗ −B.j + γλ.β = −B.λ ¨ ¨ ¨ ˙ γ0 − δ0 γλ.α = gαβ − ξα.λ ˙ ˙ ˙ γj − δj γλ.j − Sj + (Φ − Ψ + ∆E). This is easy to do if we perform a Fourier transform of Eqs.i = −B.i ˙ ˙ + −B.j β.j − Sj − (− (Φ − Ψ − ∆E) δij − 2E. j i γj = − (Φ − Ψ − ∆E) δij − 2E. Thus we have ˙ g00 → g00 − 2ξ 0 . We also denote ∂0 ≡ ∂t by the overdot.ij − Fi. we get ˙ Φ → Φ − ξ0. gij → gij − ξi. 7. 0 ˙ g0i → g0i − ξ.j + ∆Fj .i (19) (20) Now we need to separate these equations and derive the transformation laws for the individual perturbation variables. ˙ ˙ − ξ⊥i − ζ.j ¨ ¨ ¨ ˙ = Φ + 3Ψ + ∆E − 2∆B + ∆ (Φ − Ψ + ∆E) .ij + Fi.j − Fj.0 j.j + Fj.ij − Fi.ij + Fi.α . We can write the transformation of gαβ component by component using the 3+1 decomposition.i + Si − 0 ξ. Vj = ikj V (S) + Vj (V ) . j. ˙ ¨ = 2 Φ−Ψ−B+E ¨ ¨ ˙ ˙ + Fi.λ − j 0 0 β.β = Φ + 3Ψ + ∆ E − B .i + hij − ξ⊥i.i + hij ) − δij .0 .j + Sj = −γ0 = γ0j . the metric changes as (17) (This can be easily found from the standard formula for the change of coordinages.β = γλ ¨ ¨ ¨ ˙ ˙ ˙ = Φ + 3Ψ + ∆ E − B + −B. 0 g00 → g00 − 2ξ.j − Sj. Now we compute 0. To simplify calculations.λ * .) Now let ˜ us write Eq. .j − Sj + Φ − Ψ + ∆E .j + Fj.ij + Fi. using the perturbation variables (16). involving ∂ xµ /∂xν .0 2G0 = γλ.λ 2G0 = 2γλ.λ γλ.i .j − Fj.λ ˙ ˙ γj − δj γλ. ˙0 j.i − Si.

δgµν → 0. −B. to project the given vector Vi (k) onto the direction of ki . vector. These considerations depend rather crucially on the silently made assumption that all the metric perturbations vanish. and tensor components. (18)-(20). Without boundary conditions. A= 1 Xi. Tij = T (tr) δij + ∂i ∂j T (S) + ∂i Tj (V ) + ∂j Ti (V ) + Tij . So the tensor/vector/scalar decomposition is actually undeﬁned without a ﬁxed assumption about the boundary conditions. with slight modiﬁcations: there are some cosmetic factors of 2 and some minus signs. −B). Tj (V ) ≡i kl (2) T . Now we project Tij (2) (1) (1) onto ki kj and obtain the scalar component T (S) proportional to ki kj and the tensor Tij orthogonal to ki kj : Tij ≡ (2) (2) Tij (1) 1 (2) −ki kj + δij k 2 T (S) + Tij . there is no unique decomposition of the form Xi = A. ∆ because the function A is deﬁned up to solutions of ∆A = 0. physically motivated set of boundary conditions. An explicit counterexample where these boundary conditions are not satisﬁed: gµν = diag (A. Tij ≡ Tij − Tll δij − ∂i ∂j − δij ∆ T (S) . where A = 1. Applying the decomposition method to Eqs.) The reason is that this gµν is a “perturbation” of ﬂat metric with Φ and Ψ that do not decay to zero at spatial inﬁnity. starting from the symmetric perturbation tensor δgij . −B. Let us go through this procedure in more detail. E → E − ζ. Tij = Tij − ∂i Tj − ∂j Ti . hij are obtained by this decomposition method. ∆ It may be convenient to gather the “trace” terms (the terms containing δij ) as one term. ˙ Si → Si − ξ⊥i . there will remain 6 independent components of perturbations (Φ. Other components will then show whether the geometry is really perturbed or it’s just a coordinate transformation of a ﬂat space. 1 (1) (1) Tij ≡ Tij − δij Tll . we get the following transformation laws for the perturbation variables. It is clear that one can set Fi = 0. hij ).The idea is ﬁrst. Alternatively. and second. 1. In real space. B = 1 are constants. Fi . 3 3 3 1 1 1 1 (2) ≡ ∂i ∂j Tij − Tll δij . we project onto ki and kj separately. to subtract the projection from Vi and to obtain the component of Vi which is transversal to ki . First. The same procedure applied to a symmetric tensor Tij leads to a decomposition into scalar. E. due to the subtraction of 3 k 2 δij in the ﬁrst term. Tii = 0. 26 . The imaginary unit factors are added as coeﬃcients at kj for convenience: with these factors. 2 k4 Tij ki kj = 0. 3 3 Note that the perturbation variables Ψ. at spatial inﬁnity. one may do without Fourier transforms but then one still needs boundary conditions to solve the relevant Poisson equations for components. (T ) T (tr) ≡ 1 1 Tll − ∆T (S) . Fi → Fi − ξ⊥i . Ψ. k 2 jl Tij (T ) ≡ Tij − i ki Tj (2) (V ) + kj Ti (V ) .i . we subtract the trace and obtain the traceless part T (1) of the tensor T . ˙ B → B − ξ 0 − ζ. This metric is ﬂat but one cannot see this by using the perturbation formalism! (The component Ψ = 0 cannot be removed by a gauge transformation. These boundary conditions are implicitly used when deﬁning the Fourier transforms necessary for the tensor/vector/scalar decompositions (a Fourier transform is undeﬁned without this boundary condition). Si . The boundary conditions δgµν → 0 at spatial inﬁnity is a natural. hij → hij . the decomposition (21) translates to real space as Vj = ∂j V (S) + Vj (V ) . 3 (2) (V ) T (S) ≡ − 3 ki kj Tij . 3 Note the coeﬃcient 1 3 that depends on the number of spatial dimensions (three).i + Bi . (2) 1 Note that Tij is again a trace-free tensor. Tii = 0. B = E = 0 with a coordinate transformation. 2 ∆2 3 3 3 1 (V ) (V ) (2) (T ) (2) = ∂i Tij . In general. So a coordinate transformation with ξ µ decaying to zero cannot bring this metric to ηµν . ˙ Φ → Φ − ξ0. Remarks: Ψ → Ψ. and a completely traceless (“tensor”) part such that (2) (T ) Tij kj = 0 and (T ) Tii (V ) = 0: (T ) Tij = iki Tj (V ) + ikj Ti + Tij . 2. Finally. to obtain a “vector” part Tj (T ) Tij such that Tj (V ) kj = 0. the full decomposition is Tij = T (S) Tj (V ) 1 1 (T ) (V ) (V ) Tll δij + ∂i ∂j − δij ∆ T (S) + ∂i Tj + ∂j Ti + Tij .

˜ 2 z = z. A× = 0 and then the opposite case. Note that the deformations change the shape of the ring in the same way. The 4-vectors describing the particles are uµ = (1. we have x=x+ ˜ 1 (A+ x + A× y) e−iω(t−z) . y components. ˜ ˜ Therefore. 0.ν + Γµ uν uα = Γµ . Now if we compute the shape of the ring in these coordinates. while A× describes a deformation in the directions at 45◦ .) Consider a plane wave moving in the z direction. The physically measured distances between the particles in the ring will change with time. hxy = hyx = A× e−iω(t−z) .2. The deformation of the ring is squeezing in one direction and expansion in the orthogonal direction. Consider a particle with constant 3-coordinates (x. It follows that A+ describes a deformation in the two vertical directions. ˜ 2 λ 2 It is easy to check that gµν xµ xν ≡ (ηµν + hµν ) xµ xν = ηµν xµ xν + O(h2 ). the ring will experience a deformation. 8. i. 0).1 Detecting gravitational waves Using distances between particles (This solution follows Hobson-Efstathiou-Lasenby [2006]. it is convenient to make a local coordinate transformation (local in the neighborhood of the ring) such that the metric becomes ﬂat. This can be veriﬁed by performing a rotation by π . Therefore it is suﬃcient to consider a ring of particles situated in the x − y plane. and then it is straightforward to see that this will exchange A+ and A× .λ ) . z). it will be easy to interpret this shape in a straightforward way. ˜ To visualize the deformation.λ ) = 0. 2 1 y = y + (A× x − A+ y) e−iω(t−z) . it is clear that only changing lengths are between particles that have some separation in the x. However. 2 Therefore the coordinates xµ of each particle remain constant with time. 1 1 xµ = xµ + hµ xλ ≡ xµ + hαλ xλ η αµ . 4 x ˜ y ˜ 1 →√ 2 1 1 −1 1 x ˜ y ˜ .e.4.4.ν − hαν. y. it is convenient to consider ﬁrst the case A+ = 0.8 8.e. let us imagine a cloud of particles initially at rest at diﬀerent positions. except for the rotated orientation. Since the only nonzero components of hµν are the x. (22) To detect the presence of this gravitational wave. After the coordinate transformation. y directions. να 2 1 µ Γ00 = η λµ (hλ0. To visualize the deformation. the distance between each pair of particles is determined through the spacelike vector ∆xµ ≡ xµ − xµ as (1) (2) ∆L2 ≈ (ηµν + hµν ) ∆xµ ∆xν and will change with time because of the dependence on hµν . so one can easily see that these particles move along geodesics: uν uµ . 27 .α + hλα.0 − h00. xµ can be understood as the (approximate) Cartesian coordinates where the length is given by the usual ˜ Pythagorean formula. invariant under inﬁnitesimal gauge transformations). (all other components of hµν are zero) hxx = −hyy = A+ e−iω(t−z) . it is very easy to verify that D = Φ − Ψ − B + E and Si − Fi are invariant under inﬁnitesimal changes of coordinates (i. gµν xµ xν = ηµν xµ xν (up to second-order terms).0 + hλ0. να 00 1 λµ Γµ = η (hλν.1 Gravitational radiation I Gauge invariant variables ˙ ¨ ˙ Using the equations derived in Problem 7. 0.ν = uν uµ .2 8. §18. The trick that performs ˜ ˜ this transformation is the following.

(23). 0. let us compute the divergence of Xi . p. Note that the function ρ must fall oﬀ suﬃciently rapidly as |x| → ∞ or else the integral (23) will not converge. where G(x) is the Green’s function. d2 S σ = Rσ S λ .2. 0. and there is no change in the z direction.i + bi . Xi. It is suﬃcient that |ρ(x)| ∼ |x|−2−ε at large |x| (where ε > 0). Therefore. z 2 (23) Therefore One can denote this integral more concisely. with boundary conditions φ → 0 at inﬁnity. See arxiv:gr-qc/0605033 for nice explanations. the geodesic deviation equation becomes ¨ ¨ S σ = hσ S λ . φ(x) = − d3 k 3e ik·x 4πρ(k) k2 (2π) d3 k =− ∞ d3 k (2π) π 3e ik·x 4π k2 d3 ye−ik·y ρ(y) = d3 y ρ(y)G(x − y). ∆ 28 . Therefore a(x) = − One can write more concisely a= 1 4π d3 y Xi. An arbitrary 3-vector Xi (such as T 0 i ) is decomposed into scalar and vector parts as follows. 8. d3 y ρ(y). 00λ dt2 The Riemann tensor to ﬁrst order in h can be expressed as ¨ R σ = hσ 00λ λ (note that hµ0 = 0). bi.i . A cloud of particles at rest in the gravitational ﬁeld hµν described by Eq. The argument using the geodesic deviation (see Carroll.i = 0.3 Poisson equation ∆φ = 4πρ. 152-154) goes like this: The geodesic deviation equation can be simpliﬁed for a deviation vector S σ corresponding to nonrelativistic (almost stationary) particles moving with 4-velocity approximately equal to (1. To determine an explicit expression for a.4 Metric perturbations 1 Xi = a. k |x| Here we used the known integral sin z 1 dz = z 2 φ(x) = − 1 sin z dz = π. |x − y| 1 Xi. The solution given above is simple and straightforward.2 Using geodesic deviation equation PLEASE NOTE: The commonly found arguments that use the geodesic deviation equation are suspect because the geodesic deviation equation uses coordinates ξ µ rather than gauge-invariant quantities. is easy to ﬁnd using the Fourier transform: −k 2 φ(k) = 4πρ(k). λ ¨x = ω 2 (hxx S x + hxy S y ) = ω 2 (A+ S x + A× S y ) e−iω(t−z) . φ = 4π 8.i (y). The general solution of the Poisson equation. Chapter 6.8.ii = ∆a. |x − y| 1 ρ. G(x) = − 1 ik·x 4π =− 3e 2 k π (2π) ∞ 0 dk 0 0 dθ sin θ eik|x| cos θ = − +∞ −∞ 2 π |x| ∞ 0 1 dk sin kx = − . S ¨ S y = ω 2 (hyx S x + hyy S y ) = ω 2 (A× S x − A+ S y ) e−iω(t−z) . (22) will stay indeﬁnitely at rest in the coordinate system (ξ µ = const) even though the distances between particles will change with time. 0).i = a. ∆ 1 where the operator ∆ is just a shorthand notation for the integral in Eq.

8. σj = Tj. (24) 16πG which represents the vector part of the spatial Einstein equation (here σi is the vector part of the spatial Tij ).i + Tk .j µ= 1 Note that the operator ∆2 applied to a function f (x) is deﬁned only if the function f has a suﬃciently fast decay at −3−ε |x| → ∞. Now we solve this system of equations and ﬁnd 3 1 i 1 i 1 1 Tii − Tk. In particular.i + βi + ∆λ.ik 2 i 1 1 i 1 i i i i T . j 0 Ti.ik . and (30) are consequences of Eqs. 1 1 ˙ ˜ Si = ∂t 16πGβi = − 16πG∆σi = −16πGσi . In the 3+1 decomposition.i . hij = ˙ ˜ Si = −16πGσi . (29).k − σk.i + hij = 8πGTji = 8πG µδik + λ.j 2 ˜ ˙ Si ≡ Si − Fi .j = 0.ik . ˙ α. It is suﬃcient that |f (x)| ∼ |x| with ε > 0 at large |x|. i Tk. To calculate the components λ.i = σi. ¨ ∆D + 2Ψ = −8πGµ. ˜ ∆Si = 16πGβi .ik = ∆∆λ + ∆µ. (T )i 16πGTj .i + Tk . 1 ˙ ¨ (Si − Fi ) = σi .5 Metric perturbations 2 1 0 T . (26). i Tk. ˙ D ≡ Φ − Ψ + B − E. also follows from the conservation of Tµν and from the other Einstein equations.i − ∆ ∆ ∆ k. ˙ Ψ = 4πGα.k + σk.i + βi ) . βi. µ of the EMT. α≡ βi ≡ Ti0 − (T )i . The Einstein equations are 0 2∆Ψ = 8πGT0 .k + σk.i = 0. j 0 T0.j = 0.i = 0.i + µ. ˙ α + ∆λ + µ = 0.k The energy-momentum tensor Tµν is decomposed as Ti0 = α. ˙ ˙ βi + ∆σi = 0.i = ∆λ. .k + ∆σk . (33) Then it is easy to see that Eqs.i + βi .0 + Ti. The conservation law of the EMT in 3+1 decomposition looks like this. (27). We need to verify that the equation (T )i Ti = 0.i + ∆Si = 8πGTi0 = 8πG (α.ij − δij ∆D + 2Ψ − where we have denoted for brevity 1 ˜ ˙ Si. 2 ∆ 2 ∆ k.k + µ. (25). ∆ k.k 1 0 T ∆ k.ik − σi. (25) (26) (27) (28) (29) (30) (31) which are gauge-invariant variables. (32) This gives therefore ˙0 T0 = ∆α.0 + T0.i i Tk = µδik + λ. (T ) Tk = Tk − µδk − λ. ∆ ∆ 29 . (T )i Tk. ˙0 T0 = ∆α. 2 ¨ D. the Einstein equations become 0 ∆Ψ = 4πGT0 . This is a faster decay than that required by the 1 operator ∆ . and the conservation laws (33). (28).ik + σi. D = 8πGλ. we compute − Tii = ∆λ + 3µ. λ = T − T i. 2 1 (T )i ˙ ˜ + Sj.i + ∆σi = 0.ik + σi. 1 ˜ ˙ 2Ψ.

9 9. We compute Pik.a δia 1 Ri Ri Ra = Pia . 9. 3 where Qik = Xik − It is easy to see that Xik diﬀers from Qik only by a term of the form A(t.i − Pik Pab.i is proportional to Ri because Ri Xab. 2 So only the ﬁrst term remains. The transverse-traceless part of δij is zero.i = 1 Pia Pbk − Pik Pab 2 Xab .i 2 2 1 1 1 2 Pik (Pai nb + Pbi na ) = − na Pbk + nk Pab − Pia (Pbi nk + Pik nb ) + R R R 2R 1 1 1 −2na Pbk + nk Pab − Pab nk − Pak nb + Pak nb + Pbk na = R 2 2 1 3 1 =− Pbk na + Pak nb .2 Matter sources The question is to verify the following property. 1 δik r2 T 0 0 d3 r. this term contains derivatives of Pab . for any Xab we have (T ) 1 1 Xii = Pia Xab Pbi − Pii Pab Xab = Pab Xab − 2Pab Xab = 0. Pik.i Pbk − Pik.i 1 2 = − (Pai nk + Pak ni ) . which are also sometimes proportional to Ri . R 2 2 This is higher-order in 1/|R| than Pab . 2 Therefore the transverse-traceless parts of Xik and Qik are the same. 30 .a = Ri R = .i = 1 Pia Xab Pbk − Pik Pab Xab 2 = . Xab.i 1 Pia Pbk − Pik Pab 2 1 Xab + Pia Pbk − Pik Pab Xab.i .a = −ni. .a Ri. 1 Pia Pbk − Pik Pab δab = 0.a . that is. (note that Pak nk = 0) R R 1 1 = Pia.i Pab + Pia Pbk. and its image has dimension 2.a 1 Pia Pbk − Pik Pab 2 ni.i = X(t − |R|) = − X ′ . Pii = 3 − ni ni = 2. At the same time. R)δij . 2 . Pik. − 2 |R|. (34) vanishes: 1 Pia Pbk − Pik Pab Ri = 0. a) First note that Pab is a projector.i Therefore the second term in Eq. Therefore. as required. (T ) Xik. R .i However.i = − nk . (T ) Xik = (T ) Qik .a = − 3 R R R R R . 2 2 b) We compute (T ) Xik.1 Gravitational radiation II Projection of the matter tensor Pab Pbc = Pac .i (34) Note that the projection kills any component proportional to Ri because Pia Ri = 0. the trace of Pab is 2.a nk − ni nk.

α ν.i = 0. 2 2 (1) because of the transverse traceless property of hµν .λ β.β − .β + hβµ.ν ) + hλν hλν.9.λ hν − h.ν αλ .ν − hβν. In this term.µ ) . 2 and it is given that Tαβ = 0.ν h.β λ. (2) (2)λ (2)λ (1) (1)λ (1)λ Rαβ = Γαβ.λ β.β .3 Energy-momentum tensor of gravitational waves See Hobson-Efstathiou-Lasenby [2006]. Rαβ = Γαβ.µ ) = − hλµ hλµ. η hλµ. we tackle the term Γβν Γαλ .α − hαβ. The Christoﬀel symbol up to second order is Γλ = αβ Γαβ (1)λ (2)λ Γαβ The Ricci tensor is 1 λµ (1)λ (2)λ η − hλµ (hµα. rename λ. The idea is to separate the second-order terms already in the Ricci tensor.α . 2 (1) (2) λ λ ν λ ν Rαβ = Γλ αβ.λ − hαλ.11. .α 4 1 λµ 1 .αλ + hαβ.λ .ν + hλν hαν.µ = 0.ν + hλ hν + hλ hν − hλ h.α = 2 2 1 1 (1)λ (1)λ = Γαβ.αβ ) + 2 31 1 λµ 1 hλν. Also.ν h.µλ ) = − hαβ .ν α. ν) = h.ν h.µλ + hλµ.αλ + hαβ.λ ) hλν − 2hλ h. Finally.λ hλν + h.µ ) .α − hαλ. since Rαβ is found from the ﬁrst-order Einstein equation 1 (1) Rαβ − ηαβ R(1) = 8πGTαβ .α βλ αν βλ αν (symmetry of hµν ) = hλν.λ λ.β + βλ αν 4 .ν hλν − hλ h.β α. h0α = 0. We need to compute the second-order terms in the Einstein tensor.αβ ) + 2 1 = hλµ (−hαµ.λ + hλν hλν.αλ − hαβ.λ hν + h.ν λ.α αλ (move.ν λ h h − h.λ h.αλ − hαβ.β β.β .λ .β + Γλν Γαβ − Γβν Γαλ = Rαβ + Rαβ . g µν = η µν − hµν . note that now indices are always raised and lowered using ηµν .λ − Γλα. gµν = ηµν + hµν . hii = 0. Let us now evaluate these expressions and simplify as much as possible.β + hβµ.β .α β.λ 1 λ h + hλ − h.ν β.β αλ βν α.λ − Γλα.α β. β appear in similar positions: Γαβ = (1)λ (1)λ (1)ν 4Γβν Γαλ = hλ + hλ − h. it helps to write .β where again the indices are raised via η µν since we only need this term to ﬁrst order.λ + (hβλ.ν h. it is given that the EMT of matter vanishes. as early as possible: Γαλ = Rαβ (1) (1)λ (1)λ (1)ν (1)λ (1)ν 1 λµ 1 λµ η hλµ .α hλµ.λ ν.µλ ) 2 (in the last line we used hλµ = 0). It follows that η µν hµν = 0. hµν .ν αλ βλ αν 1 λµ h (−hαµ.ν h.ν αλ βλ αν Finally.α hλν + 2h.β β. We will also try to simplify things by using the fact that hµν is purely transverse-traceless. Hence.λ + hλµ.α = 0.β + Γλν Γαβ − Γβν Γαλ . hik. which we will use below.βλ − hβµ. h hλµ.β βν (1)λ (1)ν hν + hν − h.ν α.α − hαβ. First we decompose the metric. We need to compute the Ricci tensor to second order.λ .β .α hλν + 2h.β + hµβ.β β.α β.ν (35) .α αβ 2 α.λ βν λ. §17.β . Then we can simplify this expression by grouping together terms where α.ν h.λ = − h (hαµ.α βν αλ (gather terms) = 2h. 2 1 = − hλµ (hαµ.ν − h.α .λ − Γλα. Let us now evaluate derivatives of the second-order terms in the Christoﬀel symbols: 1 1 (2)λ Γαλ = − hλµ (hαµ.ν λα .ν .β .α − hλν hαλ. 2 2 1 λµ 1 λµ (2)λ −Γαλ.λ − Γλα. Now.β = η λµ (hαµ. we put together the expression for Rαβ : Rαβ = (2) (2) (expand brackets) = hλ hν + hλ hν − hλ h.α 2 αλ β.β = h hλµ.βλ + hβµ.λ − 2hλ h.ν ν.αβ + h. Tµν = 0. we have hαβ = 0.ν αλ ν.ν αλ βλ αν 2 .ν − hλ h.µλ + hλµ.ν − hβν.λ − 2hλ h.ν + hλν (hαν. β.α − hαβ.βλ + hβµ.ν h hλµ.λ + hβλ. 2 2 1 λµ (2)λ Γαβ. 2 1 = η λµ (hαµ.µ ) = Γαβ + Γαβ .βλ − hβµ.

α Bν .γ . since Tαβ = 0. (36). h hλµ + hλµ h..) = 0 and so we may integrate by parts. αλ by hαβ = 0 and by the transverse traceless property of hµν .ν λ 1 λµ h h − h. then nl ql = |q| cos θ. we may use ηµν rather than gµν to compute the Einstein tensor: 1 (2) (2) Gαβ = Rαβ − ηαβ R(2) .α 32πG .ν 1 λµ 1 λµ 1 = h hλµ.α using Eq. so that boundary terms vanish. Then.αβ = − hλµ hλµ. for instance.β = 0.ν = − hαλ hβµ = 0. .4 Power of emitted radiation 1 dΩ = δ lm .β + .α + . for example Aµ Bν.β = hij hij.β = − hλµ hλµ. Finally. hλµ hλµ.α λµ 2 4 2 4 2 (36) where we again used the transverse traceless property of hµν and also hαβ = 0. otherwise we would have to write (η + h) R(1) + R(2) and pick up a second-order term hR(1) .αβ ) + hλµ hλµ. R(1) = 0.. and then we have gΩ (ql ) = 2π π −2i sin |q| 1 1 2π dφ dθ sin θ exp [−i |q| cos θ] = 4π 0 4π −i |q| 0 1 1 1 sin |q| 2 3 = 1 − ql ql + (ql ql ) − (ql ql ) + . In other words.αβ + h. qj =0 etc. we integrate Gαβ over a 4-dimensional region such that hµν = 0 and hµν. .α (37) hλµ hαν.λ = hλµ.ν h.µλ + hλµ. (2) (2) Now let us perform an averaging of the quantity Gαβ over both space and time.λ h. (35) and (36).α = − Aµ.βλ − hβµ. Finally.ν hαν. Gαβ = 8πG 32πG .α = 0 on the boundary of that region. The computation is easy if we introduce spherical coordinates with the z axis parallel to the vector ql .α − hαλ.α βλ αν 2 4 2 αλ β.β . = |q| 3! 5! 7! 32 .β 2 4 4 . For this reason we may use η αβ in Eq.βλ = − hλµ hαν. 4π 15 nl nm To derive the relations let us consider the generating function gΩ (ql ) ≡ dΩ exp −inl ql . √ where |q| ≡ ql ql .β .λ .ν hαν. Note that the ﬁrst-order Ricci scalar is zero. since R(1) = 0...αλ + hαβ.The Ricci scalar is R(2) = η αβ Rαβ = (2) 1 λµ 3 1 1 . R(2) = 0. (GW) Tµν = − 1 1 1 (2) hλµ hλµ. Again. Many terms cancel in this way. 4π 3 dΩ 1 lm kr nl nm nk nr = (δ δ + δ lk δ mr + δ lk δ mr ). as long as Aµ Bν contains ﬁrst powers of hαβ or hαβ. for example. After computing gΩ (ql ) it will be easy to obtain integrals such as the above: nl nm ∂ ∂ dΩ i gΩ (qj ) =i 4π ∂ql qm .ν − hαλ. (37). we obtain the required equation. we get Gαβ = (2) 1 1 . 2 We do not write the answer explicitly since it is a combination of Eqs.ν hβµ.α hλµ. 4π which is a function of a vector argument ql . Then ∂µ (.λ h (−hαµ.ν αλ 1 hαλ h.α 9.α hλµ.

3! 5! 3 30 1 1 1 2 = − + |q| δkl + ql qk . R R . .. trace-free tensor Aij (T T ) Aij ≡ 1 Pai Pbj − Pab Pij 2 Aab . in the leading order in 1/R.. Since Aii = 0. we have (again note that δab Aab = 0 and Aab = Aba ) 1 4π 1 4π and thus 1 1 Aac Abc δab = Aab Aab . 15 1 = (δjm δkl + δkm δjl + δlm δjk ) . instead of Qij .... we have (T T ) hij = 2G (T T ) Qij ≡ |R| 1 Pai Pbj − Pab Pij 2 ¨ Qij (t − |R|) .1. The ﬂux of radiation in the direction nk is integrate this ﬂux through a sphere of radius R: dE = R2 dt d2 Ω (GW ) T0k nk = R2 32πG d2 Ω hij hij. and we need to The perturbation hij is found from the Einstein equation.k nk . It was derived in the lecture that. t) 3 and is by deﬁnition trace-free. Thus we have hij. The projection tensor Pij is deﬁned in Problem 9. . 3 3 2 1 Aab Acd (δab δcd + δac δbd + δad δbc ) = Aab Aab .. Qii = 0.... ∂gΩ ∂ql 2 ∂ gΩ ∂qk ∂ql ∂ 3 gΩ ∂qj ∂qk ∂ql ∂ 4 gΩ ∂qj ∂qk ∂ql ∂qm =− 2 4 1 1 2 2 ql + ql |q| − .. (T T ) .k = 16πG (T T ) ¨ Rk Qij (t − |R|) . = − + |q| ql .0 T0k nk . G dE = d2 Ω (T T ) Qij Qij . 5 .We have used the Taylor expansion for convenience of evaluating derivatives at |q| = 0. These derivatives can be found as follows.. d2 Ω Aab Acd na nb nc nd = 15 15 d2 Ω Aac Abc na nb = 1 4π d2 Ω (T T ) Aij (T T ) Aij = Aab Aab 1 − 33 2 1 2 + 3 2 15 = 2 Aab Aab .. The tensor Qij is deﬁned by Qij (t) ≡ d3 x xi xj − 1 2 |x| δij T00 (x. the transverse-traceless part of Aij is deﬁned by (T T ) It remains to compute the average over the sphere of Consider any symmetric. 3 30 15 1 = (qj δkl + qk δjl + ql δjk ) . 2 After integration over the sphere. 15 (GW ) Now we compute the intensity of radiation. Qab . dt 8π . Qij Qij . according to formulas derived above. we have Aab Pab = −Aab na nb and so (T T ) Aij (T T ) Aij = 1 1 Pai Pbj − Pab Pij Pci Pdj − Pcd Pij Aab Acd 2 2 1 1 = Pac Pbd − Pab Pcd Aab Acd = Pac Pbd − na nb nc nd Aab Acd 2 2 1 = Aab Aab − 2Aac Abc na nb + Aab Acd na nb nc nd . (T T ) .

¨0 T ij . (b) if there is no matter (vacuum) the scalar and vector components of the metric perturbation are equal to zero. then averaging must be performed over several periods of rotation. G . But they are very complicated. t) = Qik (t) ≡ 2G (T T ) ¨ Qik (t − |R|). −1) is the Minkowski metric for ﬂat space and hµν is a small perturbation which is assumed to fall oﬀ to zero quickly at inﬁnity. For instance.. i 0 0 ¨0 Tj. 0 Now we use a trick (See Hobson-Efstathiou-Lasenby. In principle. In the case of gravitational waves in ﬂat background spacetime. we could just use the integral 0 d3 r T0 (r... A shortcut is to notice that the projection operator Pab does the job (Problems 9. The result is that (a) the variables E. Fi can be set to zero by choosing a coordinate system.5).1 and 9. d3 r T ij .) The result is (T ) hik (R. 2 d3 r T ij = d3 r T ab .i = −Tj.00 ≡ T0 . For this we need the energy-momentum tensor of gravitational waves. at least in the leading order in 1/|R|. The metric is assumed to be of the form where ηµν = diag(1. (T T ) . it is a traceless and symmetric tensor. In principle. 10 Derivation: gravitational waves in ﬂat spacetime gµν = ηµν + hµν . and then we can approximately set (T ) hij ≈ − 4G |R| d3 r (T ) Tji (t − |r − R| . now we would like to compute the energy radiated in the gravitational waves. Now. This is a rather nontrivial object. we have the formulas for this (see Problem 8. Averaging is performed over timescales larger than the typical timescale of change in the source.. Consider ﬁrst the tensor Tji rather than its transverse-traceless part (T ) Tji . if the source is a rotating body. The trick is to write the integral (out of sheer luck) d3 r ∂a ∂b ri rj T ab = 2 Then we integrate by parts and use the conservation laws (32). (c) the tensor component hij satisﬁes the wave equation (31). i 0 Tj.3. so we take the limit |R| ≫ |r|.ab ri rj = − ¨0 d3 r ri rj T0 . we need to obtain the transverse-traceless part of the tensor. 7. −1.2. (We are only interested in everything to leading order in 1/ |R| since all smaller terms will not give any ﬂux of radiated energy. r) ⇒ f (t.4) in terms of the perturbation variables Φ. we ﬁnd dE G 1 = dt 2 4π d2 Ω (T T ) . |r − R| We will use this formula for f ≡ (T ) hij and A ≡ 16πG(T ) Tji . Ψ. for us.. For instance. that we need to average over time (since Qij is a function only of time). but it is more convenient to use Qik .. substituting Qij instead of Aij . t) ri rk − r2 δik . Qij Qij . . since in general the gravitational ﬁeld does not have any energy-momentum tensor. Now.. r) = A(t. we are interested in describing the radiation sent far away by a matter distribution. t)ri rk . We start with a 3+1 decomposition of the metric perturbation hµν and compute the Einstein tensor (see Problems 7. Solutions of the wave equation in four dimensions with retarded boundary condition can be written using the known Green’s function..ij = −Tj. §17. one can deﬁne some quantity (GW ) Tµν which looks like the energy-momentum tensor of 34 . etc..9) to express the components Tij through T0 . We also decompose the matter energy-momentum tensor Tµν and obtain the Einstein equations separately for each component (8..2).. Since we found the tensor perturbation (T ) hij .5). |R| 1 0 d3 r T0 (r.0 .0j = T0. B.ij = −T0 . 7. 3 (39) The tensor Qik is the quadrupole moment of energy distribution. Qij Qij = 5 (38) The angular brackets indicate that we must perform an averaging over spacetime domains. it is much easier 0 to compute with T0 because this is just the energy density of matter. R) = − 1 4π d3 r A(t − |r − R| . if f (t. Finally. r) . r). This means. −1. (40) because the transverse-traceless parts of (40) and of Qik are the same.

We have designed this License in order to use it for manuals for free software. We will compute this quantity below.4). Inc. But of course this is not a real derivation because this does not show why the quantity (GW) Tµν has anything to do with the energy carried by waves. regardless of subject matter or whether it is published as a printed book. USA Everyone is permitted to copy and distribute verbatim copies of this license document. Then we will get a correction h(2) to the solution. This kind of averaging is assumed in Eq. one . The result is used to compute the power radiated in gravitational waves (Problem 9. 8πG β This motivates us to say that the EMT for gravitational waves is given by this formula.. From Eq. Suite 330. but it looks as if there is an additional term in the energy-momentum tensor. If we want to insert factors of c. which means that derivative works of the document must themselves be free in the same sense.. by integrating over space where the matter is contained. much larger than the typical length scale of the sources. (38). One can use the formula (38) to compute the gravitational radiation emitted by nonrelativistic matter far away from 0 those places where the matter is contained. So gravitation should be also sensitive to the energy in gravitational waves. the solution g = η + h(1) + h(2) will be more precise. T0 (r. 59 Temple Place. 35 . because free software needs free documentation: a free program should come with manuals providing the same freedoms that the software does. should be given. Secondarily. the trace. like every other energy-momentum tensor for other kinds of matter. with or without modifying it. computes the third derivative Qij . (2)α A GNU Free Documentation License Version 1. (42). Gravitation is sensitive to every kind of energy..gravitational waves (but actually is not even a generally covariant tensor). We will only show a heuristic justiﬁcation. (41) Here G(1) is the ﬁrst-order Einstein tensor. Note that the calculation of Gβ uses averaging over spacetime in an essential way. it can be used for any textual work. = 8πGTβ . But this License is not limited to software manuals.2. We will guess the formula for (GW ) Tµν as follows. and averages over long time. The real justiﬁcation for using this procedure is complicated and is beyond the scope of this introductory course of General Relativity. (38).2002 Free Software Foundation. We can try to get a more precise solution by using the second-order terms in Eq. G(2) is the second-order etc. will act as an additional source for gravity. as indicated in Eq. (GW) α Tβ ≡ − 1 (2)α (1) G [h ].3. because the energy-momentum tensor acts as a “source” for gravity (it is on the right-hand side of the Einstein equation). either commercially or noncommercially. Preamble The purpose of this License is to make a manual. (41) we ﬁnd Gβ (1)α [h(1) + h(2) ] + Gβ (2)α α [h(1) ] = 8πGTβ .. which is the following.2001. t). we replace G by Gc−9 . the result is an averaged power radiated during a long time—much longer than the typical time scale of change in the sources—and averaged over large distances. We recommend this License principally for works whose purpose is instruction or reference. The distribution of the energy density. Thus. First we solve only to ﬁrst-order in h (this is (1) what we have been doing so far) and then we will get an approximate solution hµν : Gβ (1)α α [h(1) ] = 8πGTβ . textbook. (39). This License is a kind of “copyleft”. Then one computes the tensor Qij according to Eq. Boston. but changing it is not allowed. (41). It complements the GNU General Public License. (GW ) Tµν (if we know how to compute it). One expects that the energy-momentum tensor for gravitational waves. or other functional and useful document free in the sense of freedom: to assure everyone the eﬀective freedom to copy and redistribute it. which is a copyleft license designed for free software. This quantity is useful because it gives the correct value of the energy after one integrates over a large region of spacetime. Finally. which we may rewrite as Gβ (1)α α α [h(1) + h(2) ] = 8πG Tβ + (GW) Tβ . It remains unclear exactly how one performs averaging over space and time. MA 02111-1307. Now this is similar to Eq. while not being considered responsible for modiﬁcations made by others. We can write the Einstein equation and expand it in powers of the perturbation hµν : Gα [ηµν + hµν ] = Gβ β (1)α [h] + Gβ (2)α α [h] + . this License preserves for the author and publisher a way to get credit for their work. November 2002 Copyright (c) 2000. (42) α This solution disregards the eﬀect of gravitational waves and only takes into account the eﬀect of matter Tβ . (2)α The second-order terms Gβ are computed in Problem 9.

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