ISSN 0041-9109 ANALELE S$TIINTIFICE ALE _UNIVERSITATII ,AL. L CUZA“ DIN IASI (SERIE NOUA) MATEMATICA EXTRAS Tomul XXXVH, fase. 1, 1991cs, ANALELE STIINTIFICE ALE UNIVERSITATI ,AL. I. CUZA* omul XXXVI, s. 1 a, Matematicé, 1991, 1 REGULAR VECTOR FIELDS AND. CONNECTIONS ON COTAN BUNDLE BY V. OPROIU ‘The tangent and cotangent bundles of a smooth manifold are isomorphic vector bundles when they are studied from the differential-topological point of view. However, there are some essential differences when one considers their differential geometry. The tangent bundle has a naturally defined integrable almost tangent structure and one can define the notion of a semi- spray (second order differential equation vector field) on il, From a semispray on the tangent bundle one can derive easily a (nonlinear) connection on this bundle, On the contrary, the cotangent’ bundle has a naturally defined symplectic structure but one cannot define naturally:something similar to the notions of almost tangent structure and semispray. In this paper we study some geometric properties of the cotangent bundle T*M of the smooth manifold M, related to the notions of adapted almost tangent structure and regular vector fields. An adapted almost tan- gent structure on TM is essentialy determined by & nondegenerate M-tensor field of type (0, 2) (see [9] for the definition of M-tensor fields). From the integrability condition for an adapted almost tangent structure on T*M we get a regular M-vector field on 7°M. This M-veetor field defines naturally ‘an M-bundle (local) diffeomorphism) © from TM to the tangent bundle TM of M. Using this M-bundle diffeomorphism it is possible to transfer many results from the differential geometry of the tangent bundle to that of the cotangent bundle. A semispray on is transformed into a regular vector field on T"M with the associated M-vector field defined by the components of the M-bundle diffeomorphism ©, The natural almost tangent structure of TM is transformed into an integrable adapted almost tangent structure on 7"M. The connection derived from a semispray on TM is transformed into a connection on T°M with many interesting geometric properties. In the case where the M-bundle diffeomorphism ® is obtained as the (inverse of the) Legendre transformation defined by a regular Hamiltonian on T*M i. e. a smooth function on 7°M with nondegenerate Hessian with respect to the colangential coordinates) the regular vector field on T*M corresponding to a sewispray on TM defines a mechanical structure on TM. In this case there are another two symmetric connections on 7°M. If the regular vector field on T’M is semi-Hamiltonian these three connections do coincide. Henee- forth there are studied some geometric problems related to the connections defined on T*M. It is shown that the Helmholtz conditions from the inverse88 V. OPROTU : 2 problem of Lagrangian dynamics may be related to the problem for the image of a semispray’on TM by ©* to be a Hamilton vector field on T°M. Further, there are studied the conditions under which a given regular vector field on 1°M is horizontal with respect to the corresponding connection or it is tangent to the images of M by a section in T°M (i. e. by a 1-form on M), - ‘Throughout this’ paper the summation convention is used and the in- dices hy i, j,k m run over the range {1, ..., n}. 1. Adapted almost tangent structures on T*M. We begin by describing the geometric structures of the tangent and cotangent bundles TM, T*M of a smooth (i. e. C*) n-dimensional manifold M-TM, T*M are 2n-dimensional smooth manifolds and some local charts induced naturally from loeal charts on M may be used. Denote by +: TM—>M, 7: T*M2sM the natural projec- tions and let (U, x) be a local chart on M with the domain U and the coordinate function «=[z']; i=1,..., n, Then the local chart (7-(U), (a, y)) is induced on TM where (2, y)-=[2', y'J; i=1,....n, with x! =2'or (by abuse of notation) and y! are the vector space coordinates with respect to the natural local frame (@/é2", ..., 6/éx") in TM defined by (U, x). Similarly the local chart (ru), q,p) is induced on T°M where (q,p)=[q'. pi]: icy... m, with q@=x'or and p, are the vector space coordinates with respect to the natural local frame (dz',..,., da") in T°M defined by (U, x). Throughout this paper we shall use only induced local charts on TM and 77M. Due to the special from of the change rules of the induced local charts on TM, T'M, it is possible to define the notion of M-tensor fields on these bundles (see [9]). An M-tensor field of type (k,/) on TM (on T*M) is defined by sets of local coordinate components Tj," *; sy, assigned to every induced Iocal chart on TM (on T°M) such that the change rule when a change of induced local charts on TM, (on TM) is performed, is the same with the change rule of the local coordinate components of a tensor field of type (k, J) on M. Every tensor field T on M may be thought of as an AM-tensor field on TM or on T'M with the same local coordinate components (constant on the fibres) in induced tocal charts as those of T' in the original local charts on M. Remark that in the case of a tensor field T of type (0, /) on M the correspon- ding M-tensor field on TM (on T’M) may be identified with the pull-back of T by = (by 7). - Consider the natural almost tangent structure on tensor field J of type (1,1) on TM such that TM defined by the (1) J?=0, Ker J=Im J =Kert,, Ny =0, where N, is the Nijenhwis tensor field of J. Recall that Ker 7, VTM the integrable vertical distr ion on TM. The local coordinate expression of J in an induced lee t (=U), (x, y)) on TM is 2) J=é/ey'@dz' In the case of the cotangent bundle T’M we have the integrable vertical distribition VI'M=Kerm with many properties similar-to those of VTM bat we have mot a natarally defined almost tangent stracture| | REGULAR VECTOR FIELDS AND CONNECTIONS ON COTANGENT BUNDLES 89 Definition. An adapted almost tangent structure on 7°M is an almost: tangent structure J on T*M such. that ee Ker J=Im J=VT'M. It. follows easily that the local coordinate expression of an adapted almost tangent structure on T°M is é @) T=H5— Ody’, ep where the components g,,(q, p) define an M-tensor field of type (0,2) on T,M. Moreover, this M-tensor field is nondegenerate i, e. det (9:;)#0- Proposition 1, The adapted almost tangent structure J on T'M is integrable if and only if the M-tensor field gi; satisfies the condition 944g, DH = 0. apn co In 05 Pn Proof. From the definition of the Nijenhuis tensor field Ny we get N,dj@py é/éps) 0, Ny(2/épu 2g") =0 and the condition Ny(2/éq', 6/64") = =0 is equivalent to (4) Consider now the local coordinate components gq. p); i defined as the entries of the inverse of the matrix (gi,(q, p))"* i.e. () : ging” =Iugh? = 3), The components g’ define an M-tensor field of type (2,0) on T°M. Remark that there is not a naturally defined tensor field on T°M whose nontrivial local coordinate chmponents are just 9. Proposition 2. The adapled almost tangent structure J on T*M is integrable if and only if there exists an M-veclor field on T°M defined by the components £(q, p), such that Ly ay ap. Proof, We get easily that the integrability condition (4) is equivalent to (6) g (4) ‘Then the components g may be expressed by (6) on the domain x (U)c ©T'M. Using a smooth partition of unity on M we may get the desired M- vector field &, globally defined on ‘The components £'(q, p) of an M-vector field on T°M may be thought the vector space coordinates with respect to the natural local frame vy @/62") of TM of a certain vector field on M depending on the parametrs p. Equivalently, £4(q, p) may be thought of as the last n com ponents of an M-bundle map ©: T7M—+TM (i.e, rob however ® is not nece- ssarily a vector bundle morphism i. e. it is not necessarily linear when restric- ted to the fibres). The local coordinate expression of © is of. (90 Vv. OPROIU . 4 (7) Eq, p)- The special local coordinate expression of ® as well as the nondegene- racy condition in the definition of an integrable adpted almost tangent struc- ture J on 1°M assures that ® associated with the M-vector field correspon- ding to J is a local diffeomorphism defined, e. g. on a tubular’ neighborhood of the null section in T*M, An M-vector field on 1M defined by the components &(q, p) sich that the matrix [g'/]=(é&//ép,) is nondegeraterate is ‘called regular. Every integrable adapted almost tangent structure on 7’M'is defined by a regular M-vector field on T°M and there exists a local M-bundle diffeomorphism ® from T°M to TM associated with this regular M-veetor field. Conversely, every M-bundle diffeomorphism : T*M-+7M defines a regular N-vector field on T*M, hence an integrable adapted almost tangent structure on 7° M. Remark. An integrable adpted almost tangent structure on equivalently, a regular M-vector field on T"M) there alway: a Riemannian metric on M expressed locally by g,,dx'dx’, Consider the ten- sor field of type (2,0) on M defined by the eniries g'’ of the inverse matrix of (g:;) and think of this tensor field as an M-tensor field on T*M. Then t components 2'=g"p, define a regular M-vector field on T*M. More generall a regular Hamiltonian h on T°M defines a regular M-vector field with the components —/=¢h/ép;. A quite general procedure to get regular M-vector fields on T°M can be described as follows. Consider a smooth dif! omorphism F: BYR" such that its Jacobian matrix is symmetric and positive. Denote by f'(z) the components of F. Consider a local M-vector field on every domain (U) of an induced local chart, defined by the components £!—f'(p). Using a partition of unity on M we get a globally defined regular M-veetor field on T*M. The described procedure is closely related: to the locally conformal Minkowski spaces in Finsler geome! 2. Connections on T*M A (nonlinear) connection on 7°M is defined by an almost product structure Pon T*M (i, e. P=) such that the eigen- distribution on 7°M corresponding to the cigenvalue --1 of Tis exactly VT'M (see [6], [7]. [8], [2]). The eigendistribution on T*M corresponding to the eigenvalue +1 of I’ is denoted by HT°M and is called the horizontai distribution defined by TP, The local coordinate expression of TP’ is (or, Consider é é - @ ay = @dp—T, oq ep eps The components [',, are called the coefficients of the connection Tin the induced local chart (x“(U), (g, p)). A connection Pon T*M such that I',,— =I’, is called a symmetric connection. It follows easily that the property of a connection Ton 7°M to be symmetric is independent of the induced local charts on T°M. The local vector fields 2/ép,; i=, ...,n define a local frame in VT*M while the lo¢al vector fields (9) (8) T Ody’.sical 5 REGULAR VECTOR FIELDS AND CONNECTIONS ON COTANGENT BUNDLES OL \define-a local frame m- HT*M. We have (10) TP M=VIMOHUTM and the vector fields @/@p,. 8/q's i=1,..., 1”, define a local frame on T"M adapted to the direct sum’ decomposition (10). The corresponding local dual frame in T°T°M is defined by Sp, dy’; it, ..., R where (uy dp.=dp, tT jdy’. By using these notations the expression (8) of I’ becomes 3 é (8) T= — @dqy' — — @dp- ( aap Remark. The conditions from the definition of a connection Ton TM are equivalent to the conditions (12) Bye 7 Ftd where J is an adapted (not necessarily integrable) almost tangent structure on TM. Let K be a vector field on T°M with the local coordinate expression . é a (13) K(q P)= EG. PD) 5 HG P) — + eg Pe ‘The components £ define an M-vector field on T°M, called the associated M-veetor field of K. The vector field K is called regular if its associated M- vector field is regular. Assume that K is a regular vector field on T°M and denote by Jz the integrable adapted alrrost tangent s ructure on T°M defined by (3) by the M-vector field associated with K. There is a coordinate free description of Jz. Proposition 3. The integrable adapted almost langent structure Jz on T°M is characlerized by the property (4) JelV, KJSV for every vertical vector field V on T'M (i. e. V(q, pe VIM for every (q. p) © =T"M). : Proof. By a straightforward computation in local coordinates. Proposition 4. The lensor field I'y of type (1,1) on T°M defined by (5) Ta Let defines a connection on T'M where Lx denotes the Lie derivative with res pect to K. Proof. From the property JZ=0 we get Py -Jz of (14) — J, Ts. Next, because Ty Va—(LeJ)V=—1K, kV] 4Se(K, VI=-V¥ for every vertical vector field V on T'M. Since Jz is surjective onto the set of vertical vector fields over T°M it follows 'yJz—=—Jz. Thus Mx satisfies the conditions (12) defining a connection on T*M.92 V. OPROTT 7 6 -Remark. From the integrability condition fulfilled by Jz we get. (Lid =—(L2I,) Jey LER THM), The local coordinate expression of I’, is (8) where (16) Consider the canonical I-form 9 on 17 differential. The 2-form o defines the canonical symplectic structure‘on 1” M. The local coordinate expressions are dpiAaq. 2 are vertical ive, VT (17) : O=paq', 0 Remark that o(V,. V.)-0 whenever Vj, V gian for o. Recall that a vector field H on H7T°M is a Hamilton vector field if it is regular and £00. Jf H has the local coordinate expression "M is Lagran- ae! ae! ee (18) i 2.2) ot eps ep eq’ There exists (at least locally) a smooth function h: T’M—R (called the Hamiltonian) such that dh, In this paper we deal with syme generalizations of the Hamilton vector fields on T°M. Definition, The vector field K on T°M defines a mechanical structure on T°M if K is regular and the matrix (g'!)=(8E/{ép,) defined by its associa. | ted M-vector field is symmetric. In the case of a vector field defining a mechanical structure on T"M only the condition (18) (i) is fulfilled. There exists a smooth real function A: T'MR such that £=h/ép, but, generally, x¢—dh/éq’. We may write ino | ah m= 5 He Then (19) n=! is a semibasic 1-form on T*M, interpreted as the elementary work, and K is defined by the condition (20) igo=—dh +4,7 REGULAR VECTOR FIELDS AND CONNECTIONS ON COTANGENT BUNDLES 93, We have (21) K=H +a ‘Ht is the Hamilton vector field on T°M defined by the Harriltonian dhand 4# is the vertical vector field on T°M defined by i,,g0 =. Definition, The vector field K on 7” M is a semi-Hamilton vector field if K is‘a regular and:L,0 is a semibasic 2-form on T°M i. e. ip(Lya)=0 whenever, V- is a vertical vector field on T°M. In the case of a semi-Harrilton vector field on T*M only the conditions (18), (i), (ii) are fulfilled, The formulae (19), (20), (21) are valid with the men- tion that 7 is the pull-back by = of a 1-form on M. ‘The property of a vector field K on T"M to define a mechanical structure may be expressed by 22) (Ly, Jee) HOl:Z a Z2)=0, Zp, Z,GB(T"M) where J is the integrable adapted almost tangent structure on T’M defined ted M-vector field of K. ion 5. The vector field K on T°M defines a mechanical structure if and only if (23) (Lxeo)(Vis Ve) whenever V;, Ve are vertical. Proof. Let Zy,Z,= GEM), Vi=JeZa, Va= Spl) =K(TeLy, Fe@a)) Ho xan, IgZs) +0 ZZ, in this relation and using (13) and 1 (Lu00)(JZas Sea) (Lo (SgP nZay Tex Z2) =0(Zs, SgZs) +O eZv Zs) Then the proposition 5 follows easily. In the case of the vector field defining a mechanical structure on T*M we may get another two connections. Let K be a vector field on 7°M defi- ning a mechanical structure. Define the tensor field g of type (0, 2) on T"M by (24) WZ Zs) =—0(Z 4 JeZ2) 5° Ly Zr F(T"). Then we have (Z:, Z:)=9(Zs Z:) and g(Z, V)=0 whenever V is vertical. The local coordinate expression is Zz, Then (Lyo)(JeZas Beda). Taking PyZ,, Pgs for property TZ =J we get g= Gg Ody’. Proposition 6. If K defines a mechanical structure on T°M then the the tensor field Px of type (1, 1) defined by (25) Zs. P_Z.) =(LegZr Zs ZZ ( TM) determines a connection on T*M. Proof. We have (LughZ, £2) = —(Lno)(Zs SeZs) +o(Za UxZ2) 5 Zr 226 96( TM) Then (Zp, PpSeZ2) =( Lxg)(Z. IgZ2) =0(Zr, Ug IgZs) = —0(Zi» JeZo)a Vv. OPROI 8 whence : TxJg=—Je. Next : Oy IP ats) = el FZ, Vals) =~ (Lug) Is Ze) = (Lyte dey, JZ) = ATL, VxZy) oly, TD p22) 02, JeZs) whence JP =Je . ius Pk defines a connection on "A. Its local coordinate expression is given by the coefficients 2 1 abt age (28) Uy, ; A Gs agi P98 a Another connection yy on T°M defined by a veetor field K defi ing Fe mechanical structure is obtained in a similar way from ts local coordinate expression is determined by the cocina : eo oy, ox, 27) TS= 5) KG Gur 4 —g,, 2%). (27) a 3 Is are Tes at Remark that both I'y-I'g are symmetric, Moreover, in the case of a semi—Hamilton vector field K we have Ty=PyaTy. | ........... Ty is given by the vanishing of the Nijenhuis tensor fiel Ny. We get by a straight- forward computation xi (S ' x) “AZ. Zi) n,(—, x [e:. sal ep; ap; op, By, dg! By’, dy' By’, anf wal ~ AR yy, 2 bq 89 Ope where ary, a0 28; ; Riy=—Y — (28) era Thus Ny = AR ye, ze @dg' iy! ; and the distribution HT*M is integrable if and only if the almost product structure I'y is integrable. Remark that the components Ry,, define an M-tensor field of type (0, 3) on T°M. The following identity is tuifilled T, (2s 2s Baus 4 BR aay Ry Ee py Dep, Hes 3g 8q bq! op, op oP,9 REGULAR VECTOR FIBUDS AND CONN (ONS ON COTANGENT BUNDLES 95 Similar results are obtained in, the case of the connections I'y, Py. 3. Semisprays on TM and regular vector, fields on T*M A_ semispray (a second order differential equation. vector field) on the tangent bundle TAT is a véetor field Son TM such that JS=C where J is the natural almost tangent structure on TM and. C is the Liouville vector field on TM (the local coordinate expression is C=y'd/éy', see [6], [2], [4]). The local coor- dinate expression of the semispra) Ss é (29) Stx, =u + oz,» There is a connection T° (thought of as an almost product structure) on TM derived from the semispray S by (30) LJ. The local coordinate expre (31) r= @dx'— éx' hence the coefficients of I are (32) N=-5 5 Consider the splitting TT local vector fields (33) define a local frame in HTM. ‘The integrability condition for the almost product structure T expre- ssed by the vanishing of its Nijenhuis tensor field is equivalent to the complete integrability of the differential system on TM defined by HTM. We get 3 (34) =: [se and it follows that the components Rj; define an M-tensor field of type (1, 2) on TM. Consider now a regular vector field K on T°M. Then it is defined a local M-bundle diffeomorphism ® from 7°M to TM given locally by (7) where E'; i=1,...., define the M-vector field associated with K. Assume for convenience that ® is a global diffeomorphism. Its inverse © has the following local coordinate expression (35) =e, p= O(a, y). ‘The components {(x. y) define an M-1-form:on the tangent bundle TM. From the condition for ©" to be the inverse of ® we get96 V. OPROIU 10. gig, Sopn—gy (36) Figo tee ye) ee Soa where g'/=2€//ép; and g;, are defined by (5). Then a a o, © =(g'* 0-1) oe ) (37) Iris > o;" a Pe Theorem 7. Let K be a regular vector field on T*M and assume that ils associated M-vector field defines a global M-bundle diffeomorphism ® : T*M— TM. Then the vector field DK is a semispray on TM whose derived connection T is the image by © of the connection Pg defined by (15). Proof. Using the local coordinate formulae (7), (13), (37) we get that ®,K is a semispray with the local coordinate expression a a S=0,K= y' tox, yy 2. Km ye toa, uy ay where of are given by : agt ae 38) oto =KE =P LS y, SS (38) sate Then, denoting by ® the map induced by © at the level of tensor fields and using (3), (37) we have 6. B é . é 915 0D), — @(O™) "dg! = = Ode ep ey Finally, using the properties of the Lie derivative Pa~2L0J=—Lo,x(OJ,) = —B(LJ_) =OP g. Thus I’ is the image of Ty by ©. * Remark. By using (36), (37) we get that the formula (38) may be written in the equivalent form (38') 10071 =SE, The theorem 7 gives us the following geometric result. The splitting TT'M=VT°M@HT'M defined by Iz is mapped by ©, into the splitting TTM=VTM@HTM detined by I’. We have the following local coordinate expressions 3 39 0, (39) +5 1 nt 8h 1 Tyo, (40) nr g a bgt 34?ii REGULAR VECTOR FIELDS AND CONNECTIONS ON COTANGENT BUNDLES: 97 ‘Theorem & Lel Eq, p); im, 0 define a regular M-vector field on SM and let E* be a cohnection on T°M. Then there exists a regular vector field Kon TM with ils associated M-veclor field &.and such that T*=T'g if and only if Jhe following integrability. condition is fulfilled Dec im, . ePn Pr Proof. Denote by © the (local) M-bundle diffeomorphism defined by ‘the M-vector field #4(q, p). If K is a vector field on TM, satisfying the con- dition of the theorem then ®,K is (locally) a semispray on T'M and the co- nnection I’ derived from this semispray does coincide with the image by ® of the connection I*=I'x. The coefficients Pj of the connection T satisfy the condition (42) (41) Then, using (40), (37) we get (42 oe Z()-¢ &) ap, Op;\ 54) ep; Epe \ Bq? and, after a strightforward computation we obtain (41). The converse may be proved remarking that the image of the connection I” by & is a connection T on TM whose coefficients I’ satisfy (42). But this is just the condition for T to be derived from a semispray. Remark, The theorem 8 may be proved too by studying the complete integrability of the partial differential system (43) x épr Pa obtained from (16), where the coordinates q’ are considered as parameters. Remark that, due to the linearity of the system (43) we may get a global solution using a partition of unity on M. Consider now another problem related to the correspondence considered in theorem 7. Assume that $ is a semispray on TM and, let %,....%q be n smooth functions on the domain (U) of an induced local chart on TM. We ask for the local existence of a regular M-vector field & such that the image of S by the inverse ”* of the associated (local) M-bundle diffeomorphism is just K jag’ +y Theorem 9. Consider a semispray S on TM and lel xq, p); t=1, be n smooth real valued functions on the domain x(U) of an induced local chart on.T°M, Assume thal the ordinary differential system on =U) (44) — pee ls =... = a w(x, Ox, 9) walt, C2, W)) y has n prime integrals Cy,...C, such that 7 — Matematicaa V. OPROTU A 98 DiC, i Dit) where the local coordinate expression of S is given by (25). Then there exists a local M-bundle diffeomorphism © from TM lo T’M sending the semispray S$ in a regular vector field K on TM, wilh ® the (local) M-bundle di {feomorph corresponding to ils associated M-vector field and the last n components x, , Proof. Consider the partial differential system au ey (45) £0, a, Ss (x,y) (46) PD aXe, y) _ obtained by using (38') from the condition ®>!8=K where @ is given by a) and K is given by (13). Then (see [1]) the characteristic system of (46) is just _ ieee. eeéeéeéé=s ning, by using the Implicite Function Theorem, of the components %,..., lq in formula (31) of the local M-bundle diffeomophism @-", Remark, The Lirst 221 equations in the system (44) define the integral paths of the semispray S. Consider now the correspondence between the connections on T°Af, 7M given in theorem 7 when these connections are not necessarily obtained from regular vector fields on 7"M and semisprays on TM. If O: T° Ms TAT is an M-bundle diffeomorphism and I, T are connections on T°M.. TM respectively then the correspondence is given by (47) orar, grr, We shall say that I", I’ are ®-related. The local coordinate formulae relating the coefficients Tix, y), T',,(g, p) are (36). Proposition 10. If the connections T°, on T"M, TM are @-related then (48) w Ray =Rhob, (ii) 1100 CPa Proof. By a straightforward computation using (28), (34) or by’ using the relation ®Ny¥—Np between. the Nijenhuis tensor fields of I* and 7, Proposition 11. If the connection I on TM is derived from a semispray then (49) ER ORs, OR ey" Oy! ay! Proof. By @ local coordinate cymputation using the formula aTh) 8 (ath) el} art Remark, The connection I*=6P on 7*M, corresponding by ® to a connection I on TM, derived from a symispray must satisfy the identity 7. é Ee Eas 49") wa ( Ran) tou 2 (Fx,)=0 pn \ ep, 6p Pa\Opri i TTT {2 REGULAR VECTOR FIBUDS AND ‘CONNECTIONS ON COTANGENT BUNDLES 99 corresponding to (49). “Remark. The identity (49°) may be obtained too as the integrabi condition of (41): thought of as a partial differential system satisfied by gc,. Let’T’, I be connections on T°M, TM respectively and let us look for (at least locally) an M-bundle diffeomorphism ©: 1° TM such that the connections I”, I’ are ®-related. From (40) we get the following partial differential sy: (50) —THq, 8. P) satisfied by the components £‘(q, p) of the M-vector field on T*M, corres- ponding to’, The integrability condition for this system is (48) (i). Generally, (48) (i) defines an overdetermined partial differential system on T°M with variables q',..., q" as parameters. Jf we may find the general solution of (48) (i) then the existence problem for the solutions of (50) may be studied easily. ‘A quite interesting situation arises in the case where (48) (i) is equivalent toa completely integrable system. Then the partial differential system obtai- ned by considering together (50), (48) (i) is a completely integrable system and by using the Frobenius theorem we may get a local solution of our problem. Remark. An equivalent problem may be considered if we look for the inverse M-bundle diffeomorphism ©: T'M-—>7°M such that P, I" are @-7- related. Then the M-1-form on TM defined by (2, y) corresponding to © must satisfy the partial differential system rn Sa (50) aa 4 as Dix, Sle, y)) with the integrability condition (48) (ii). If the connection I* on T°M is symmetric then the M-bundle diffe- omorphism © and the M-tensor field Ri, must satisfy the following identity (51) Rhy Se 4 ry ay, St aye ay A quite interesting situation arises in the case where we look for the M-bundle diffeomeorphivm © i, e. for the M-vector field &(q, p) on T*M in the form (52) Eq. p)=Pag() thus g(x) are the components of a nondegenerate tensor field: of type (2, 0) on M. If the tensor field g;,() on M is defined by (5) then (52) C(x, v) =Ginl2)y". If T is a connection on TM associated with a linear connection y on M, de- fined by the connection coefficients Pjj(x) i.e Ta, y= then I” must be a connection on T° M associated with another linear connec- tion 7 on M defined by the connection coefficients TY, i. e.00 V. OPROIU 1 Pula, P)=—PH(Q) Pa Moreover, the linear connections V, V -must he conjugate (see [10]) with, respect to the tensor field of type (0, 2) on M, délined by 9.2) i. e. Gn0 i (53) HT KE —~Gulh=0. é he complete integrability condition for the partigl differential system (58) is expressed by the following purely algebrait relation satistied by g,, and the curvature tensor fields Rls. Rhy of YG respectively (54) rR +g. Bhs =O. 4. Regular vector fields and the inverse problem of Lagrangian dynamics, The inverse problem of Lagrangian dynamies is to give necessary and sufficient conditions for a system of second order differential equations to be the Euler Lagrange equations of some regular Lagrangian function (see {11}, [2], [3)). One solution of this probiem is known a the Helmholtz condi- tions. If S is a semispray on TM with the local coordinate expression (29) and TY are the coefficients given by (32) of the connection I on TM derived from $ then the Helmholtz conditions are concerned with the (local) existence of the functions ,,; i,j— ves Ron TU) such that @ det(9.)40, gi ~gu5, (55) , (ii) $9)~-GT} GT} =0, go* i) ga(sre- nin) ~an(s ae Remark that the conditions (65) are not completely satisfactory ince they involve the extraneous functions 9,, when one would hope for a condition pa the semispray § alone. Remark that in [2] the Helmholtz conditions have been incorporated in the problem of existence of an almost symplectic strue- ture on T'M satisfying appropriate geometric conditions. The functions g,, in the Helmholtz conditions (55) may be thought.of as 6t./éy' where %, are the components of the M-bundle diffeomorphism @-1 given locally by (35). Then it is suggested to use an M-bundle diffeomorphism o': TM-—T'M to understand better the geometric content at the Hetm- holtz conditions. Proposition 12. Let S be a semispray on TM and lel 01: TM» lM Ye an M-bundle diffeomorphism given locally by (35). Then K-—-* § ira vector field defining a mechanical structure on T'M if and only if S and the functions y= ely" salisfy the conditions (55) (i). Proof. Since ® is a diffeomorphisin we have det(y,,)40: Using (36) and (18) (2) we see that K defines a’mechanical structure on T#M it and only if okey alleys, Remark, We denoted g.,==9,,00-1-=2t, uw! by abuse.13 __ REGULAR VACTOR FimLDS AND CONNBGTIONS ON COTANGENT BUNDLES 101 L.-* Remark. ‘There always exist M-bundle diffeomorphisms ®t: TM— T° M such that (he corresponding functions-g,, satisfy.the conditions (55) (i). These M1 ‘bundle diffeomorphisms’ may. be obtained as the Legendre transforma- tions associated with, regular Lagrangian functions on T'M, Proposition 13. Lel S:be a semispray on TM and lel O*; TM—+T'M be an M-bundle diffeomorphism given locally by (35). Then K=O;1S is a semi- Hamilton. vector field if-and only if S and gij—8%,/éy? satisfy the conditions (55) (i), (ii) and / ah (56) oh 3a! where 3/8x' is defined by (33). Proof. The conditions (18) (i) are fulfilled if and only if the functions gu; satisty 155) (i). If K=@;"S then (38°) gives the relation between the com- ponenis o, of S and x, of K. : The condition (18) (ii) is written as follows ae ex! (57) = So —2gulh. It follows by considering in (57) the symmetric and skew-symmetric parts that (57) is equivalent to (55) (ii) and (58). Remark. We may show that (56) is related to (59) (ii). In fact, taking in (55) (ii) {he partial derivative with respect to y', then interchanging J and k we get 2 (8%) _ Be) g ey \dr* bat Thus (56) may be obtained from (55) (i) provided that suitable initia conditions are imposed to 6%,/@x*(x,0) and é%,/éy*(x, 0). Finally, it follows that the image of a given semispray S on TM by an M-bundle diffeomorphism ®!: TM—+T'M is a Hamilton vector field on T'M if and only if the Helmholtz conditions (55) and the condition (56) are fulfilled. 5. Horizontal regular vector fields on T*M, Let K be a regular vector field on T°M with the corresponding connection I’, defined by (15) and ©: :T°M—+TM the M-bundle diffeomorphism defined by the associated M- vector field E! — (we assume for convenience that ® is a global diffeomorp- hism). Proposition 14, The regular vector field K is horizontal with respect to the connection Tx if and only if its local coordinate components &', x satisfy 66 met f'=0 with the coefficients Ty, given by . eet : 69) Tis =9ix agi PEW where P% are the connection coefficients of « torsion free linear connection on M.02 V. OPROIT . 16 Proof. The condition for K- to be horizontal with respect to Ty, means that XK is a combination of the local vector fields 3 y's i=1,..,n, defining a local frame in HTM. Then it follows (58). In order to obtain informations about the connection I'g corresponding to K consider the semispray S=0, K which, according to theorem 7, is horizontal with respect to (60) ot — Dia) y* where Tj,() are the connection coefficients of a torsion frge linear connection on M. Then, using (40) we get the expression (59) of the coefficients of the connection I'y, Proposition 15. Let K be a semi-Hamillon vector field on T'M. Assume that K is horizontal with respect to Dx and denote by D(x) the connection coeffi- Gents of the torsion free linear connection on M., determining by (59) the connec tion Ty. Then (61) (2 + ra) a ’ Pe (62) Rust 0449) where a; are independent of p. Moreover, the 2-form on M defined by the coeffi cients ct, is closed. : Proof. If K isa semi-Hamilton vector field on T*M the conditions {18) (i), (i) ave fulfilled. From (58) we get by using (18) (ii) and the property In=Hs that 2 (63) 35° Eo a. du! eps Next use (59) to get (61). Using (63) and (28) we have oe (64) Ras = Ri(he where Rf,() are the local coordinate components of the curvature tensor field of the connection V. Using (61) and (28) we have (65) (Get +at,) =0. opp From (64), (65) it follows @/ép,(Ry,8") <0 i. e. Ry is independent of p. Finally, from (62) we get Say BE ax! ay! a from which we obtain, by using (63) and (28") Remark, From ‘the relation (61) we get by differentiating with respect to p, |7 REGULAR VECTOR FIGUDS AND CONNECTIONS ON COTANGENT BUNDLES 103 (65) ots. épépr 62 Sections in the cotangent hundle tangent to regular vector fields. Let « be, a 1-form on the manifold M, thought of as a section a:M— —>T'M-in-the cotangent bundle. Then a(M) is an t- ensional smooth submanifold in T’M and we should be interested in finding the conditions under which a given regular vector field K an 1M is tangent to the sub- manifold ¢(M)< T'M jn the points of #(M). ‘The tangent space to a(M) in a point’ a(x) is spanned by é ®RST 5 én" where #=a,d2" is the local caordin: + K(a(x)) to be tangent to a(M) in 2.2) is obtained by expre nation of a(é/a' | (66) | ate expression of a. The condition for ing it as a combi- jon of K is (13). Remark that the same where the local coordinate expr ze condition is obtained from ! oleae Proposition 16, Consider the ordinary differential system det dx" de, day a(t, 2) Bua, a) BM) real, 2) ' i (67) i ) and lel Cy os Cy be prime integrals such that Then there exists a local seclion x in T*M such that K is tangent-to a(M) in the points of aM). Proof. ‘Think of (66) as a partial differential system whose characteristic ystem is just (67). Then the local solution « of (66) is obtained from the prime integrals C,....,C, by using the Implicite Function Theorem. Remark. It should be important to get closed’ 1-forms « which are solu- tions of (66). REFERENCES: _— Methods in Mathematica Physics, vol 11: Partial Diffe- ition, 1. Courynt R, Hilbert D renlial Equations, Wiley Interscience, New York, London 1962, Russian Es Mir Moskwa, 1964, 830 2. Gram pin M, — On the differential geometry of the Buter Lagrange egu nerse probem of Lagrangian dynamics, J. Physics, A. Math, Gen. 14 (1981). 256 uations and the intor V. OPROI. 18 8. GrampinM, Prince GE. Thompson G.— A geometrical version of the Helmbolt conditions in time dependent dynamics. J. Phys. A. Math. Gen. 17 (1984), 1437— 1447, 4.Grampin, M, Pirani, F. A. — Applicable Differential Geometry, Gambriege Univ Press (1986), 11, 394 5. Dekrat, A.— Mechanical structures and connections, Diff. Geom. Appl. Proceedings Conf. in Dubrovnik (1988), Faculty cf Math. Univ, Belgrade, Inst. Math. Univ, Novi Sad (1989), 121-152. 6. Grifone, J.— Siructures presgue tongentes et connexions, 22 (1) (1972), 287-334, 22 (3), (1972), 291 ~338. Klein J. — Structures symplectigues ou J symplectiques homepénes sur Uespace tangent a une variéé. Symposia Math. 14 (1974), 181-192. 8, Kiein, J. — Almost symplectic structures in dynamics. Diff. Geom, Appl. Proceedings Conf. in Brno (1986), D. Reidel Pub'. Co. 1987, 79-00. 9 Mok, K.R. PettersenE. M, Weng Y. G.— Structure of syminetricticnsors of type (0,2) and tensors of type (1,1) on the tangent bundle. ‘Trans. Am, Math. Sce. 234 (197), 253-278, 10, Norden, A..P. — Prostranstoa affinnoi sviaznosti, Russian, Navka, Moskwa 1976, 432. IL, Santilli, R. M.— Foundations of Theoretical Mechanics 1, The Inverse Problem in New- fonian Mechanics, Texts and Monographs in Physies, Springer Verlag, 1978, xix, 266, Av Inst. Feurier Greneble, Received 24. 1. 1956 Seminarul Matematie Universitatea din lagi, Romania