Selected solutions to exercises from Pavel

Grinfelds Introduction to Tensor Analysis and

the Calculus of Moving Surfaces

David Sulon

9/14/14
ii
Contents

I Part I 1
1 Chapter 1 3

2 Chapter 2 7

3 Chapter 3 13

4 Chapter 4 17

5 Chapter 5 33

6 Chapter 6 39

7 Chapter 7 47

8 Chapter 8 49

9 Chapter 9 51

II Part II 57
10 Chapter 10 59

11 Chapter 11 67

12 Chapter 12 77

III Part III 89

13 Chapter 16 101

14 Chapter 17 109

iii
iv CONTENTS
Introduction

Included in this text are solutions to various exercises from Introduction to

Tensor Analysis and the Calculus of Moving Surfaces, by Dr. Pavel Grinfeld.

v
vi CONTENTS
Part I

Part I

1
Chapter 1

Chapter 1

Ex. 1: We have x = 2x0 , y = 2y 0 . Thus

F 0 (x0 ; y 0 ) = F (2x0 ; 2y 0 )
2 0
= (2x0 ) e2y
2 2y 0
= 4 (x0 ) e :
1
Ex. 2: Note that the above implies x = 0
2 x, y = 12 y. We check
0

@F 0 0 0 2y 0
(x ; y ) = 8 (x0 ) e
@x0
1 2( 1 )y
2
= 8 x e
2
= 4xey
@F
(x; y) = 2xey :
@x
@F 0
Thus, 0 0
@x0 (x ; y ) = 2 @F
@x (x; y) as desired.

Ex. 3: Let a; b 2 R, a; b 6= 0, and consider the "re-scaled" coordinate basis

a
i0 =
0
0
j0 = ;
b

where each of the above vectors is taken to be with respect to the standard
basis for R2 . Thus, given point (x; y) in standard coordinates, we have x = ax0 ,
y = by 0 , where (x0 ; y 0 ) is the same point in our new coordinate system. Now,
let T (x; y) be a dierentiable function. Then,
@F @F
rT = (x; y); (x; y)
@x @y

3
4 CHAPTER 1. CHAPTER 1

in standard coordinates
@F 0 0 @x0 @F 0 0 @y 0
= (x ; y ) (x; y); (x ; y ) (x; y)
@x0 @x @y 0 @y

(think of x0 as a function of x).

@F 0 0 1 @F 0 0 1
= (x ; y ) ; 0 (x ; y )
@x0 a @y b
1 @F 1 @F
= p ;
a2 + 0 @x0 b2 + 0 @y 0
1 @F 1 @F
= p ; p 0 0 0;
i0 i0 @x0 j j @y

as desired.

Ex. 4: Assume

x0 a cos sin x
= + :
y0 b sin cos y

Then,

x0 = a + (cos ) x (sin ) y
y0 = b + (sin ) x + (cos ) y

Also,

x0 a cos sin x
=
y0 b sin cos y
1
x cos sin x0 a
=
y sin cos y0 b
cos sin
cos2 +sin2 cos2 +sin2 x0 a
= sin cos
cos2 +sin2 cos2 +sin2
y0 b
0
cos sin x a
=
sin cos y0 b

Thus,

x = (cos ) (x0 a) + (sin ) (y 0 b)

y = (sin ) (x0 a) + (cos ) (y 0 b) :
 5

Further notice that we obtain i0 ; j0 from the standard basis [Note: this "basis"
would describe points be with respect to this point (a; b)]

cos sin 1
i0 =
sin cos 0
= cos i+ sin j
cos sin 0
j0 =
sin cos 1
= sin i+ cos j

Now, we have, given a function F , we compute

@F @F @F 0 0 @x0 @F @y 0 @F 0 0 @x0 @F
(x; y) i + (x; y) j = 0
(x ; y ) (x; y) + 0 (x0 ; y 0 ) (x; y) i + (x ; y ) (x; y) + 0 (x0 ; y 0
@x @y @x @x @y @x @x0 @y @y
@F 0 0 @F @F 0 0 @F
= (x ; y ) cos + 0 (x0 ; y 0 ) sin i+ (x ; y ) sin + 0 (x0 ; y 0 ) cos j
@x0 @y @x0 @y
@F 0 0 @F 0 0 @F @F
= (x ; y ) cos i (x ; y ) sin j + 0 (x0 ; y 0 ) sin i + 0 (x0 ; y 0 ) cos j
@x0 @x0 @y @y
@F 0 0 @F
= 0
(x ; y ) (cos i sin j) + 0 (x0 ; y 0 ) (sin i + cos j)
@x @y
@F 0 0 cos @F 0 0 sin
= (x ; y ) i j + 0 (x ; y ) i j
@x0 sin @y cos

@F 0 0 0 @F 0 0 0
= (x ; y ) i + 0 (x ; y ) j
@x0 @y

[NOT SURE - I will ask about this one tomorrow]

(a; b) cooresponds to a shifted "origin," corresponds to angle for which the

whole coordinate system is rotated.
Ex. 5: We may obtain any a ne orthogonal coordinate system by rotating
the "standard" Cartesian coordinates via (1.7) and then applying a rescaling.
6 CHAPTER 1. CHAPTER 1
Chapter 2

Chapter 2

Ex. 6: See diagram.

Note: Diagrams will be added later for Ex. 7-12

Note: For Ex 7-12, let h denote the distance from P to P , where P

is a point arbitrarily close to P along the appropriate direction for which we
are taking each directional derivative. Dene f (h) := F (P ), i.e. parametrize
along the unit vector emanating from P in the direction of l (note f (0) = F (P )).
Also, for points A,B, AB indicates the (unsigned) length of the vector from A
to B.
Ex. 7:
p
f (h) = F (P )2 + h2
h
f 0 (h) = p
F (P )2 + h2
dF (p)
= f 0 (0)
dl

Ex. 8: We have
1
f (h) =
AP h
1
f 0 (h) = 2
(AP h)
1
= 2
(AP h)

so
dF (p)
= f 0 (0)
dl
1
=
(AP )2

7
8 CHAPTER 2. CHAPTER 2

Ex. 9: Let denote the measure of angle OP P . By the Law of Sines, we

have

sin (F (P )) sin ( )
=
AP h OA
sin ( )
=
OA
sin sin (F (P ) F (P ))
=
OP h

From the second equation, we obtain

OP sin (F (P ) F (P ))
sin =
h
OP [sin (F (P )) cos (F (P )) cos (F (P )) sin (F (P ))]
=
h

The, from the rst equation, we have

sin (F (P )) OP [sin (F (P )) cos (F (P )) cos (F (P )) sin (F

=
AP h (OA) h
(OA) h sin (F (P )) = (OP ) (AP h) [sin (F (P )) cos (F (P )) cos (F
(OA) h tan (F (P )) = (OP ) (AP h) sin (F (P )) (OP ) (AP h) co
((OA) h + (OP ) (AP h) cos (F (P ))) tan (F (P )) = (OP ) (AP h) sin (F (P ))
(OP ) (AP h) sin (F (P ))
tan (F (P )) =
(OA) h + (OP ) (AP h) cos (F (P ))
(OP ) (AP h) sin (F (P ))
F (P ) = arctan
(OA) h + (OP ) (AP h) cos (F (P ))

Thus,

(OP ) (AP h) sin (F (P ))

f (h) = arctan
(OA) h + (OP ) (AP h) cos (F (P ))
(OP ) sin (F (P )) [(OA) h + (OP ) (AP h) cos (F (P ))] (OP ) sin (F (P )) (AP h) [(OA)
f 0 (h) = 2
[(OA) h + (OP ) (AP h) cos (F (P ))]
(OP ) sin (F (P )) [(OA) h + (OP ) (AP h) cos (F (P ))] (OP ) sin (F (P )) (AP h) [(OA)
= 2
[(OA) h + (OP ) (AP h) cos (F (P ))] + [(OP ) (AP h) sin (F (P
 9

dF (p)
= f 0 (0)
dl
(OP ) sin (F (P )) [(OP ) (AP ) cos (F (P ))] (OP ) sin (F (P )) (AP ) [(OA) (OP ) (AP ) cos (F (P ))]
= 2 2
[(OP ) (AP ) cos (F (P ))] + [(OP ) (AP ) sin (F (P ))]
(OP ) sin (F (P )) (OP ) (AP ) cos (F (P )) (OP ) sin (F (P )) (AP ) (OA) + (OP ) sin (F (P )) (AP ) (OP )
= 2 2
(OP ) (AP ) cos2 (F (P )) + sin2 (F (P ))
(OP ) sin (F (P )) (AP ) (OA)
= 2 2
(OP ) (AP )
(OA)
= sin (F (P ))
(OP ) (AP )

Ex. 10: Clearly F (P ) = F (P ) for any choice P in such a direction. Thus,

f is constant, and we have
dF (p)
=0
dl

Ex. 11: Put d as the distance between P and the line from A to B. As
!
with the previous problem, the distance from P to line AB is also d. Thus,
1
F (P ) = (AB) d
2
1
F (P ) = (AB) d;
2

dF (p)
and we have F (P ) = F (P ), so dl = 0 as before.

!
Ex. 12: Drop a perpendicular from P to AB. Let K be this point of
intersection. Note that the length AK = F (P ) + h. Then,

1
f (h) = (AB) (F (P ) + h)
2
1
f 0 (h) = AB
2

dF (p)
= f 0 (0)
dl
1
= AB
2
!
Ex. 13: (7) The gradient will point in direction AP , and will have magnitude
1.
(8) [Not sure]
10 CHAPTER 2. CHAPTER 2

!
(9) The gradient will point in direction AP (in the same direction
as was asked for the directional derivative), and thus will have magnitude

(OA)
sin (F (P ))
(OP ) (AP )

(note F (P ) is assumed to satisfy F (P ) )

!
(10) The gradient will point in direction perpendicular to AB, and will have
magnitude 1.
(11),(12) The gradient will point in the direction perpendicular to
!
AB (in the same direction as was asked for the directional derivative in Ex.12),
and thus will have magnitude
1
AB:
2

Ex. 14: The directional derivative in direction L would then correspond to

the projection of Of onto L.

Ex. 15: [See diagram]

2
kR ( + h) R ( )k = 1 + 1 2 cos (h)

by the Law of Cosines. So,

2
kR ( + h) R ( )k =
2 2 cos (h)
p
kR ( + h) R ( )k = 2 2 cos (h)
s
h
= 2 2 cos 2
2
s
h
= 2 2 sin2
2
r
h
= 4 sin2
2
h
= 2 sin :
2

Ex. 16:
1
2 sin h2 2 2 cos h2
lim = lim ;
h!0 h h!0 1
 11

by LHospitals rule,
h
= lim cos
h!0 2
= 1:

Ex. 17:
2 sin h2 sin h2
lim = lim h
h!0 h h!0
2
h
sin 0 + 2 sin (0)
= lim h
h!0
2
= sin0 (0)
= cos (0)
= 1:

Ex. 18: We have

R ( ) R0 ( ) = 0:

Dierentiating both sides, we obtain

R0 ( ) R0 ( ) + R ( ) R00 ( ) = 0:

But, R0 ( ) is of unit length, so we have

1 + R ( ) R00 ( ) = 0
R ( ) R00 ( ) = 1:

Now, let be the angle between R ( ), R00 ( ). We thus have

kR ( )k kR00 ( )k cos = 1
kR00 ( )k cos = 1;

since R ( ) is of unit length. Now, let h be arbitrarily small. Since kR ( )k =

kR ( + h)k = kR0 ( + h)k = kR0 ( )k = 1, we have by congruent triangles
that kR0 ( + h) R0 ( )k = kR ( + h) R ( )k : Thus,
kR0 ( + h) R0 ( )k
kR00 ( )k = lim
h!0 h
kR ( + h) R ( )k
= lim
h!0 h
= kR0 ( )k
= 1:
12 CHAPTER 2. CHAPTER 2

Thus, R00 ( ) is of unit length. We then have

cos = 1;

which implies that = , or that R00 ( ) points in the opposite direction as

R ( ).
Chapter 3

Chapter 3

Ex. 19: We may construct a three-dimensional Cartesian coordinate system as

follows: Fix an origin O, then pick three points A; B; C such that the vectors
! ! ! ! ! !
OA; OB; OC form an orthonormal system. Dene i = OA, j = OB, k = OC.
Note that in this coordinate system, A; B; C have coordinates
0 1 0 1 0 1
1 0 0
@0A ; @1A ; @0A
0 0 1

respectively, and a vector V connecting the origin to a point with coordinates

0 1
x0
@ y0 A
z0

can be expreessed by the linear combination

V =x0 i+y0 j+z0 k:

Ex. 20: Since our space is three-dimensional, there are three continuous
degrees of freedom associated with our choice of origin O. The choice of the
direction of the "x"-axis yield another two continuous degrees of freedom (note
the bijection between the direction of the x-axis and a point on the unit sphere
centered at O). Finally, the "y"-axis may be chosen to lie along any line
orthogonal to the x-axis; the set of all such lines lie in a plane, hence our choice
of direction for the y-axis yields the sixth continuous degree of freedom (there
is a bijection between the set of all such directions and points on the unit circle
which lies in this plane orthogonal to the x-axis.

13
14 CHAPTER 3. CHAPTER 3

Ex. 21: Let P be an arbitrary point in a two-dimensional Euclidean space

with polar coordinates r; . Assume P has cartesian coordinates (x; y). Dene
P 0 to be the point along the pole that is distance x from the origin. Note that
by the orthogonality of the x; y axes, we may form a right triangle with P , the
origin O, and P 0 . Note that OP 0 = x and P P 0 = y; hence by the properties of
right triangles, we have
x
= cos
r
y
= sin ;
r

or

x = r cos
y = r sin :

Ex. 22: We see from the above that

x2 + y 2 = r2 cos2 + r2 sin2
= r2 ;

hence we may solve for r (taken to be non-negative):

p
r = x2 + y 2 :

Also,
y r sin
=
x r cos
= tan ;

so
y
= arctan :
x

Ex. 23: Dene the x and y coordinate of some arbitrary point P to be the
Cartesian system of coordinates dened by applying Ex. 21 to the coordinate
plane xed in the denition of our cylindrical coordinates. Simply dene the z
(Cartesian) coordinate to be the signed distance from P to the coordinate plane
 15

(note the orthogonality of of x,y,z by the denition of distance to a plane - and

also that x; y do not depend on z). The equations for x; y then follow from Ex.
21, and the z (Cartesian) coordinate is equal to the z (cylindrical) by denition.

Ex. 24: The inverse relationships for r, follow from Ex. 22, and the
identity z (x; y; z) = z follows trivially from 23.

Ex. 25: Let P be a point with spherical coordinates r; ; . Let the x-axis
be the polar axis, and the y-axis lie in the coordinate plane and point in the
direction orthogonal to the polar axis (chosen in accordance to the right-hand
rule). Finally, let hte z-axis be the longitudinal axis. Since the z-coordinate
length OP 0 , where P 0 is the orthogonal projection of P onto the longitudinal
axis, we have by the properties of right triangles,
z = r cos .

Now, project P onto the coordinate plane, and denote this point P 00 . We
clearly have the length OP 00 = r sin . Thus, by considering the right triangle
determined by the points O, P 00 , and the polar axis, we have
x = (OP 00 ) cos
= r sin cos
y = (OP 00 ) sin
= r sin sin :

Ex. 26: From Ex. 25, we have

p q
x2 + y 2 + z 2 = r2 sin2 cos2 + r2 sin2 sin2 + r2 cos2
q
= r sin2 cos2 + sin2 sin2 + cos2
q
= r sin2 cos2 + sin2 + cos2
p
= r sin2 + cos2
= r;

so p
r (x; y; z) = x2 + y 2 + z 2 :

Also, z=r = cos ; so

z
(x; y; z) = arccos
r
z
= arccos p :
x + y2 + z2
2
16 CHAPTER 3. CHAPTER 3

Finally,
y r sin sin
=
x r sin cos
= tan ;

so
y
(x; y; z) = arctan :
x
Chapter 4

Chapter 4

Ex. 27:
" x y #
p p
x2 +y 2 x2 +y 2
det J = det y x
x2 +y 2 x2 +y 2
2 2
x +y
= p
(x2 + y 2 ) x2 + y 2
1
= p :
x2 + y 2

Ex. 28:

p 1 p 1
J (1; 1) = 12 +12 12 +12
1 1
2
1 +1 2 12 +12
p1 p1
= 2 2 :
1 1
2 2

Ex. 29:

cos r sin
det J 0 = det
sin r cos
= r cos2 + sin2
= r;

p
Using the relationship r = x2 + y 2 ; we have det J det J 0 = 1.

17
18 CHAPTER 4. CHAPTER 4

Ex. 30:
p
p cos 4
J 0
2; = p 2 sin 4
4 sin 2 cos 4
"p 4 #
2
p2
1
= 2
:
2 1

Ex. 31: We evaluate the product

"p #
p1 p1 2
1
0 2 2 p2
JJ = 1 1 2
2 2 2 1
1 0
= ;
0 1

as desired.

Ex. 32:
cos r sin
J 0 (x; y) =
sin r cos
x
r y
= y
r x
2 3
x
p
2 2
y
= 4 x y+y 5;
p 2 2 x
x +y

so
" # 2 3
p x p y p 2x 2 y
JJ 0 = x2 +y 2 2
x +y 2
4 x y+y 5
y x p 2 2 x
x2 +y 2 x2 +y 2 x +y
" #
x2 y2
x2 +y 2 + x2 +y 2 0
= x2 y2
0 x2 +y 2 + x2 +y 2
= I;

similarly, J 0 J = I. Thus, J; J 0 are inverses of each other.

Ex. 33: We use

p
r (x; y; z) = x2 + y 2 + z 2
z
(x; y; z) = arccos p
x + y2 + z2
2

y
(x; y; z) = arctan
x
 19

Note from our computation of the Laplacian in spherical coordinates, we have

(after substituing expressions for x; y; z to obtain these results in terms of r; ; ):
@r
= sin cos
@x
@r
= sin sin
@y
@r
= cos
@z

@ cos cos
=
@x r
@ cos
=
@y r sin
@ sin
=
@z r

@ sin
=
@x r sin
@
= cos sin
@y
@
= 0:
@z

Thus,
2 @r @r @r
3
@x @y @y
6@ @ @ 7
J (r; ; ) = 4 @x @y @z 5
@ @ @
@x @y @z
2 3
sin cos sin sin cos
= 4 cos rcos cos
r sin
sin
r
5:
sin
r sin cos sin 0

We then compute
2 @x @x @x
3
@r @ @
6 @y @y @y 7
J 0 (r; ; ) = 4 @r @ @ 5
@z @z @z
@r @ @
2 3
sin cos r cos cos r sin sin
= 4 sin sin r cos sin r sin cos 5 ;
cos r sin 0
20 CHAPTER 4. CHAPTER 4

So

2 32 3
sin cos sin sin cos sin cos r cos cos r sin sin
JJ 0 = 4 cos rcos cos
r sin
sin
r
5 4 sin sin r cos sin r sin cos 5
sin
r sin cos sin 0 cos r sin 0
2
cos + cos sin + sin2 sin2
2 2 2
r cos sin + r cos cos2 sin + r cos s
= 4 1
r cos sin + 1r cos sin + 1r cos cos2 sin sin2 + (cos ) cos
sin sin + cos
2
cos
cos
1
cos sin + cos sin sin2 r cos cos sin 2
(cos ) sin sin
2 3r
1 0 0
= 40 1 05
0 0 1

[Note: Something may be o with the computation of J]

Ex. 34: We compute

@2f ( ; ) @ @F @A @F @B @F @C
= + +
@ 2 @ @a @ @b @ @c @
@ @F @A @F @ @A
= +
@ @a @ @a @ @
@ @F @B @F @ @B
+ +
@ @b @ @b @ @
@ @F @C @F @ @C
+ +
@ @c @ @c @ @

by the product rule. We continue:

@f ( ; ) @ 2 F @A @ 2 F @B @ 2 F @C @A @F @ 2 A
= + + +
@ 2 @a2 @ @a@b @ @a@c @ @ @a @ 2
2 2 2
@ F @A @ F @B @ F @C @B @F @ 2 B
+ + + +
@a@b @ @b2 @ @b@c @ @ @b @ 2
@ 2 F @A @ 2 F @B @ 2 F @C @C @F @ 2 C
+ + + 2
+ :
@a@c @ @b@c @ @c @ @ @c @ 2
 21

Similarly,

@2f ( ; ) @ @F @A @F @B @F @C
= + +
@ @ @ @a @ @b @ @c @
@ @F @A @F @ @A
= +
@ @a @ @a @ @
@ @F @B @F @ @B
+ +
@ @b @ @b @ @
@ @F @C @F @ @C
+ +
@ @c @ @c @ @
2 2
@ F @A @ F @B @ F @C @A @F @ 2 A
2
= + + +
@a2 @ @a@b @ @a@c @ @ @a @ @
2 2 2
@ F @A @ F @B @ F @C @B @F @ 2 B
+ + + +
@a@b @ @b2 @ @b@c @ @ @b @ @
2 2 2
@ F @A @ F @B @ F @C @C @F @ 2 C
+ + + +
@a@c @ @b@c @ @c2 @ @ @c @ @

@f ( ; ) @ 2 F @A @ 2 F @B @ 2 F @C @A @F @ 2 A
= + + +
@ 2 @a @2 @a@b @ @a@c @ @ @a @ 2
@ 2 F @A @ 2 F @B @ 2 F @C @B @F @ 2 B
+ + 2
+ +
@a@b @ @b @ @b@c @ @ @b @ 2
@ 2 F @A @ 2 F @B @ 2 F @C @C @F @ 2 C
+ + + 2
+ :
@a@c @ @b@c @ @c @ @ @c @ 2

Ex. 35: We compute

@3f ( ; ) @ @ 2 F @A @ 2 F @B @ 2 F @C @A @F @ 2 A
= + + +
@2 @ @ @a2 @ @a@b @ @a@c @ @ @a @ @
@ @ 2 F @A 2
@ F @B 2
@ F @C @B @F @ 2 B
+ + 2
+ +
@ @a@b @ @b @ @b@c @ @ @b @ @
@ @ 2 F @A 2
@ F @B 2
@ F @C @C @F @ 2 C
+ + + 2
+
@ @a@c @ @b@c @ @c @ @ @c @ @
= I + J + K;
22 CHAPTER 4. CHAPTER 4

for sake of clarity,

@ @ 2 F @A @ 2 F @B @ 2 F @C @A @F @ 2 A
I = + + +
@ @a2 @ @a@b @ @a@c @ @ @a @ @
@ @ 2 F @A @ 2 F @B @ 2 F @C @A
= + +
@ @a2 @ @a@b @ @a@c @ @
@ 2 F @A @ 2 F @B @ 2 F @C @ @A @ @F @ 2 A @F @3A
+ + + + +
@a2 @ @a@b @ @a@c @ @ @ @ @a @ @ @a @ 2 @
2 2 2
@ @ F @A @ F @B @ F @C @A
= 2
+ +
@ @a @ @a@b @ @a@c @ @
@ 2 F @A @ 2 F @B @ 2 F @C @ 2 A
+ + +
@a2 @ @a@b @ @a@c @ @ @
@ 2 F @A @ 2 F @B @ 2 F @C @ 2 A @F @ 3 A
+ 2
+ + +
@a @ @a@b @ @a@c @ @ @ @a @ 2 @
@ @ 2 F @A @ 2 F @B @ 2 F @C @A
= 2
+ +
@ @a @ @a@b @ @a@c @ @
2 2
@ F @A @ F @B @ F @C @ 2 A
2
@F @ 3 A
+2 2
+ + +
@a @ @a@b @ @a@c @ @ @ @a @ 2 @
@ @ 2 F @A @ 2 F @ @A @ @ 2 F @B @ 2 F @ @B @ @ 2 F @C @2F
= 2
+ 2
+ + + +
@ @a @ @a @ @ @ @a@b @ @a@b @ @ @ @a@c @ @a@c
2 2 2 2 3
@ F @A @ F @B @ F @C @ A @F @ A
+2 + + +
@a2 @ @a@b @ @a@c @ @ @ @a @ 2 @
@ @ 2 F @A @A @ 2 F @ @A @A
= +
@ @a2 @ @ @a2 @ @ @
2 2
@ @ F @B @A @ F @ @B @A
+ +
@ @a@b @ @ @a@b @ @ @
2 2
@ @ F @C @A @ F @ @C @A
+ +
@ @a@c @ @ @a@c @ @ @
2 2
@ F @A @ F @B @ F @C @ 2 A
2
@F @ 3 A
+2 + + +
@a2 @ @a@b @ @a@c @ @ @ @a @ 2 @
3 3
@ F @A @ F @B @ F @C @A @A @ 2 F @ 2 A @A
3
= + + +
@a3 @ @a2 @b @ @a2 @c @ @ @ @a2 @ 2 @
3 3 3
@ F @A @ F @B @ F @C @B @A @ 2 F @ 2 B @A
+ + + +
@a2 @b @ @a@b2 @ @a@b@c @ @ @ @a@b @ 2 @
3 3 3
@ F @A @ F @B @ F @C @C @A @ 2 F @ 2 C @A
+ + + +
@a2 @c @ @a@b@c @ @a@c2 @ @ @ @a@c @ 2 @
2 2 2 2
@ F @A @ F @B @ F @C @ A @F @ 3 A
+2 + + +
@a2 @ @a@b @ @a@c @ @ @ @a @ 2 @
 23

@ @ 2 F @A @ 2 F @B @ 2 F @C @B @F @ 2 B
J = + + +
@ @a@b @ @b2 @ @b@c @ @ @b @ @
2 2 2
@ @ F @A @ F @B @ F @C @B
= + 2
+
@ @a@b @ @b @ @b@c @ @
@ 2 F @A @ 2 F @B @ 2 F @C @ @B @ @F @ 2 B @F @ @2B
+ + + + +
@a@b @ @b2 @ @b@c @ @ @ @ @b @ @ @b @ @ @
@ @ F @A @ 2 F @B
2
@ 2 F @C @B
= + +
@ @a@b @ @b2 @ @b@c @ @
@ 2 F @A @ 2 F @B @ 2 F @C @ 2 B @ 2 F @A @ 2 F @B @ 2 F @C @ 2 B @F @ 3 B
+ + + + + + +
@a@b @ @b2 @ @b@c @ @ @ @a@b @ @b2 @ @b@c @ @ @ @b @ 2 @
@ @ 2 F @A @ 2 F @ @A @ @ 2 F @B @ 2 F @ @B @ @ 2 F @C @2F @ @C
= + + 2
+ 2
+ +
@ @a@b @ @a@b @ @ @ @b @ @b @ @ @ @b@c @ @b@c @ @
2 2 2 2 2 2 2 2
@ F @A @ F @B @ F @C @ B @ F @A @ F @B @ F @C @ B @F @ 3 B
+ + 2
+ + + 2
+ +
@a@b @ @b @ @b@c @ @ @ @a@b @ @b @ @b@c @ @ @ @b @ 2 @
@ @ 2 F @A @B @ 2 F @ @A @B
= +
@ @a@b @ @ @a@b @ @ @
2
@ @2F @B @ 2 F @ @B @B
+ +
@ @b2 @ @b2 @ @ @
2
@ @ F @C @B @ @C @B
+ +
@ @b@c @ @ @ @ @
@ 2 F @A @ 2 F @B @ 2 F @C @ 2 B @ 2 F @A @ 2 F @B @ 2 F @C @2B @F @ 3 B
+ + + + + + +
@a@b @ @b2 @ @b@c @ @ @ @a@b @ @b2 @ @b@c @ @ @ @b @ 2 @
3 3 3 2 2
@ F @A @ F @B @ F @C @A @B @ F @ A @B
= + + +
@a2 @b @ @a@b2 @ @a@b@c @ @ @ @a@b @ @ @
2
@ 3 F @A @ 3 F @B @ 3 F @C @B @ 2 F @B @B
+ 2
+ 3
+ 2 +
@a@b @ @b @ @b @c @ @ @b2 @ @ @
@ 3 F @A @ 3 F @B @ 3 F @C @C @B @ 2 C @B
+ + 2 + +
@a@b@c @ @b @c @ @b@c2 @ @ @ @ @ @
2 2 2 2
@ F @A @ F @B @ F @C @ B @ F @A @ 2 F @B
2
@ 2 F @C @2B @F @ 3 B
+ + + + + + +
@a@b @ @b2 @ @b@c @ @ @ @a@b @ @b2 @ @b@c @ @ @ @b @ 2 @
24 CHAPTER 4. CHAPTER 4

@ @ 2 F @A @ 2 F @B @ 2 F @C @C @F @ 2 C
K = + + 2
+
@ @a@c @ @b@c @ @c @ @ @c @ @
2 2 2
@ @ F @A @ F @B @ F @C @C
= + +
@ @a@c @ @b@c @ @c2 @ @
2 2 2
@ F @A @ F @B @ F @C @ @C @ @F @ 2 C @F @ @2C
+ + + 2
+ +
@a@c @ @b@c @ @c @ @ @ @ @c @ @ @c @ @ @
2 2 2
@ @ F @A @ F @B @ F @C @C
= + +
@ @a@c @ @b@c @ @c2 @ @
2 2
@ F @A @ F @B @ F @C @ 2 C
2
@ 2 F @A @ 2 F @B @ 2 F @C @ 2 C @F @
+ + + + + + +
@a@c @ @b@c @ @c2 @ @ @ @a@c @ @b@c @ @c2 @ @ @ @c @
2 2 2 2 2
@ @ F @A @ F @ @A @ @ F @B @ F @ @B @ @ F @C @2F
= + + + + +
@ @a@c @ @a@c @ @ @ @b@c @ @b@c @ @ @ @c2 @ @c2
2 2 2 2 2 2 2 2
@ F @A @ F @B @ F @C @ C @ F @A @ F @B @ F @C @ C @F @
+ + + + + + +
@a@c @ @b@c @ @c2 @ @ @ @a@c @ @b@c @ @c2 @ @ @ @c @
2 2
@ @ F @A @C @ F @ @A @C
= +
@ @a@c @ @ @a@c @ @ @
@ @ 2 F @B @C @ 2 F @ @B @C
+ +
@ @b@c @ @ @b@c @ @ @
2
@@2F @C @ 2 F @ @C @C
+ 2
+
@ @c @ @c2 @ @ @
2 2 2 2
@ F @A @ F @B @ F @C @ C @ 2 F @A @ 2 F @B @ 2 F @C @2C @F @
+ + + 2
+ + + +
@a@c @ @b@c @ @c @ @ @ @a@c @ @b@c @ @c2 @ @ @ @c @
@ 3 F @A @ 3 F @B @ 3 F @C @A @C @ 2 F @ 2 A @C
= 2
+ + 2
+
@a @c @ @a@b@c @ @a@c @ @ @ @a@c @ @ @
3 3 3
@ F @A @ F @B @ F @C @B @C @ 2 F @ 2 B @C
+ + 2 + +
@a@b@c @ @b @c @ @b@c2 @ @ @ @b@c @ @ @
2
@ 3 F @A @ 3 F @B @ 3 F @C @C @ 2 F @ 2 C @C
+ + + +
@a@c2 @ @b@c2 @ @c3 @ @ @c2 @ @ @
@ 2 F @A @ 2 F @B @ 2 F @C @ 2 C @ 2 F @A @ 2 F @B @ 2 F @C @2C @F @
+ + + 2
+ + + +
@a@c @ @b@c @ @c @ @ @ @a@c @ @b@c @ @c2 @ @ @ @c @
 25

Ex. 36
@f ( ; ) @ 2 F @A @ 2 F @B @ 2 F @C @A @F @ 2 A
= + + +
@ 2 @a2 @ @a@b @ @a@c @ @ @a @ 2
2 2 2
@ F @A @ F @B @ F @C @B @F @ 2 B
+ + + +
@a@b @ @b2 @ @b@c @ @ @b @ 2
2 2 2
@ F @A @ F @B @ F @C @C @F @ 2 C
+ + + +
@a@c @ @b@c @ @c2 @ @ @c @ 2
2 j i 2 i
@ F @A @A @F @ A
= i j
+ i
@a @a @ @ @a @ 2

@2f ( ; ) @ 2 F @A @ 2 F @B @ 2 F @C @A @F @ 2 A
= 2
+ + +
@ @ @a @ @a@b @ @a@c @ @ @a @ @
2 2 2
@ F @A @ F @B @ F @C @B @F @ 2 B
+ + 2
+ +
@a@b @ @b @ @b@c @ @ @b @ @
2 2 2
@ F @A @ F @B @ F @C @C @F @ 2 C
+ + + 2
+
@a@c @ @b@c @ @c @ @ @c @ @
2 j i 2 i
@ F @A @A @F @ A
= + i
@ai @aj @ @ @a @ @

@f ( ; ) @ 2 F @Aj @Ai @F @ 2 Ai
2
= i j
+ i
@ @a @a @ @ @a @ 2
1
Ex. 37 We may generalize the above three equations, setting = ,
2
= , to yield
@2f ( ; ) @ 2 F @Aj @Ai @F @ 2 Ai
= i j
+ i :
@ @ @a @a @ @ @a @ @

This encompasses three separate identities, since we have been assuming that
we may switch the order of partial dierentiation throughout.

Ex. 38 [Not nished]

Ex. 39 Begin with

cos arccos x = x

and dierentiate both sides:

d
[cos arccos x] = 1
dx
d
(sin arccos x) [arccos x] = 1
dx
d 1
[arccos x] =
dx (sin arccos x)
26 CHAPTER 4. CHAPTER 4

By examining triangles with unit hypotenuse, we obtain

p
sin arccos x = 1 x2 ;

so
d 1
[arccos x] = p
dx 1 x2

Ex. 40: We know that f; g satisfy

g 0 (f (x)) f 0 (x) = 1:

Dierentiating both sides, we obtain

d 0 d 0
[g (f (x))] f 0 (x) + g 0 (f (x)) [f (x)] = 0
dx dx
g 00 (f (x)) f 0 (x) f 0 (x) + g 0 (f (x)) f 00 (x) = 0

2
g 00 (f (x)) [f 0 (x)] + g 0 (f (x)) f 00 (x) = 0 (4.1)

as desired.

Ex. 41: We compute

f 0 (x) = ex
f 00 (x) = ex
1
g 0 (x) =
x
1
g 00 (x) = ;
x2

So
2 1 2x 1
g 00 (f (x)) [f 0 (x)] + g 0 (f (x)) f 00 (x) = e + x ex
e2x e
= 1+1
= 0;

as desired.
 27

Ex. 42: We compute

1
f 0 (x) = p
1 x2
1 3=2
f 00 (x) = 2x 1 x2
2
3=2
= x 1 x2
0
g (x) = sin (x)
g 00 (x) = cos (x) ;

So
2 1 3=2
g 00 (f (x)) [f 0 (x)] + g 0 (f (x)) f 00 (x) = cos (arccos x) sin (arccos (x)) x 1 x2
1 x2
p
x x 1 x2
= + p 3
1 x2 1 x2
x x
= +
1 x2 1 x2
= 0;

as desired.

Ex. 43: We dierentiate both sides of the second-order relationship to

obtain
d 2
g 00 (f (x)) [f 0 (x)] + g 0 (f (x)) f 00 (x) = 0
dx
d 00 d h i d 0 d
2 2
[g (f (x))] [f 0 (x)] + g 00 (f (x)) [f 0 (x)] + [g (f (x))] f 00 (x) + g 0 (f (x)) f 00 (x) = 0
dx dx dx dx
3
g (3) (f (x)) [f 0 (x)] + g 00 (f (x)) 2f 0 (x) f 00 (x) + g 00 (f (x)) f 0 (x) f 00 (x) + g 0 (f (x)) f (3) (x) = 0
3
g (3) (f (x)) [f 0 (x)] + 3g 00 (f (x)) f 0 (x) f 00 (x) + g 0 (f (x)) f (3) (x) = 0

Ex. 44:
Ex. 45:
Ex. 46:
Ex. 47:

Ex. 48: We begin with the identity (note the top indices should be consid-
ered "rst")
0
Jii0 Jji = ij ;

and write out the dependences on unprimed coordinates:

0
i
Jii0 (Z 0 (Z)) Jji (Z) = j (Z) (4.2)
28 CHAPTER 4. CHAPTER 4

(note, however, that the Krnicker delta is constant with respect to the un-
primed coordinates Z). We dierentiate both sides of (4.2) with respect to
Zk:
@ h i 0 i0
i @ i
J i 0 (Z (Z)) J j (Z) = (Z)
@Z k @Z k j
@ h 0
i
k
Jii0 (Z 0 (Z)) Jji (Z) = 0
@Z
@ i 0 i0 i 0 @ h i0 i
J 0 (Z (Z)) J (Z) + J 0 (Z (Z)) J (Z) = 0;
@Z k i j i
@Z k j

since dierentiation passes through the implied summation over i0 . Then, using
the denition of the Jacobian,

@ @Z i 0 @Z i0 @Z i @ @Z i0
0 (Z (Z)) (Z) + (Z 0 (Z)) (Z) = (4.3)
0
@Z k @Z i @Z j @Z i0 @Z k @Z j
0 0
@2Z i 0 @Z k @Z i0 @Z i 0 @2Z i
0 0 (Z (Z)) (Z) (Z) + 0 (Z (Z)) (Z) = (4.4)
0;
@Z k @Z i @Z k @Z j @Z i @Z k @Z j

applying the chain rule to the rst term, and implying summation over new
index k 0 . Then, if we dene the "Hessian" object

@2Z i
Jki 0 ;i0 := (Z 0 )
@Z k0 @Z i0

0
i
with an analogous denition for Jk;i , we write (4.3) concisely:
0 0 0
Jki 0 ;i0 Jkk Jji + Jii0 Jk;j
i
= 0;

or, using a renaming of dummy indicex k 0 to j 0 and a reversing of the order of

partial derivatives,
0 0
i0
Jii0 j 0 Jji Jkj + Jii0 Jjk = 0:

This above tensor relationship represents n3 identities.

Ex. 49: Since each Jii0 is constant for a transformation from one a ne
coordinate system to another, each second derivative vanishes, and hence each
Jii0 j 0 = 0.

Ex. 50: Begin with the identity derived in Ex. 48:

0 0 0
Jii0 j 0 Jji Jkj + Jii0 Jjk
i
= 0;
 29

Then, letting k 0 be arbitrary, we multiply both sides by Jkk0 , implying summation

over k:
h 0 0
i
i0
Jii0 j 0 Jji Jkj + Jii0 Jjk Jkk0 = 0
0 0 0
Jii0 j 0 Jji Jkj Jkk0 + Jii0 Jjk
i
Jkk0 = 0

0
j0
but, Jkj Jkk0 = k0 ; so
0 j0 0
Jii0 j 0 Jji k0
i
+ Jii0 Jjk Jkk0 = 0:

0
Note that we have jk0 = 1 if and only if j 0 = k 0 , so the rst term is equal to
0
Jii0 k0 Jji . After re-naming k 0 = j 0 , we obtain
0 0
Jii0 j 0 Jji + Jii0 Jjk
i
Jjk0 = 0: (4.5)

Ex. 51: Let k 0 be arbitrary, and multiply both sides of (4.5) by Jkj0 ,
implying summation over j:
h 0
i
i0 k
Jii0 j 0 Jji + Jii0 Jjk Jj 0 Jkj0 = 0
0 0
Jii0 j 0 Jji Jkj0 + Jii0 Jjk
i
Jjk0 Jkj0 = 0
0
i0 k j
Jii0 j 0 ik0 + Jii0 Jjk Jj 0 Jk 0 = 0
i0 0
Jii0 j 0 k0 + i
Jjk Jii0 Jjk0 Jkj0 = 0:

Rename the dummy index in the second term i0 = h0 . Then,

i0 0
Jii0 j 0 k0
h i
+ Jjk Jh0 Jjk0 Jkj0 = 0:

Noting that the rst term is zero for all i0 6= k 0 , and setting k 0 = i0 :
0
Jii0 j 0 + Jjk
h i
Jh0 Jjk0 Jij0 = 0:

We then may re-introduce k 0 as a dummy index:

0
k i k j
Jii0 j 0 + Jjk Jk0 Jj 0 Ji0 = 0:

Then, switch the roles of j; k as dummy indices:

0
k i j k
Jii0 j 0 + Jkj J k 0 J j 0 J i0 = 0
30 CHAPTER 4. CHAPTER 4

Ex. 52: Return to

0 0 0
Jii0 j 0 Jji Jkj + Jii0 Jjk
i
= 0;

and write out the dependences

0 0 0
Jii0 j 0 (Z 0 (Z)) Jji (Z) Jkj (Z) + Jii0 (Z 0 (Z)) Jjk
i
(Z) = 0
0 0
@2Z i 0 @Z i @Z j0 @Z i 0 @2Z i
i 0 j 0 (Z (Z)) j
(Z) k
(Z) + i 0 (Z (Z)) (Z) = 0
@Z @Z @Z @Z @Z @Z j @Z k

Then, dierentiate both sides with respect to Z m :

" 0 0
#
@ @2Z i 0 @Z i @Z j0 @Z i 0 @2Z i
0 = (Z (Z)) (Z) (Z) + (Z (Z)) (Z)
@Z m @Z i0 @Z j 0 @Z j @Z k @Z i0 @Z j @Z k
0
" 0
#
@ @2Z i 0 @Z i @Z j0 @2Z i 0 @ @Z i @Z j0
= 0 0 (Z (Z)) (Z) (Z) + 0 0 (Z (Z)) (Z) (Z) +
@Z m @Z i @Z j @Z j @Z k @Z i @Z j @Z m @Z j @Z k @
0
" 0
#
@ @Z i 0 @2Z i @Z i 0 @ @2Z i
+ m i 0 (Z (Z)) j k
(Z) + i 0 (Z (Z)) m
(Z)
@Z @Z @Z @Z @Z @Z @Z j @Z k
" 0
# 0 0
@3Z i 0 @Z m @Z i @Z j0 @2Z i 0 @2Z i @Z j0
= 0 0 0 (Z (Z)) (Z) (Z) (Z) + 0 0 (Z (Z)) (Z) (
@Z i @Z j @Z m @Z m @Z j @Z k @Z i @Z j @Z m @Z j @Z k
" 0
# 0 0
@2Z i 0 @Z m @2Z i @Z i 0 @3Z i
+ (Z (Z)) (Z) (Z) + (Z (Z)) (Z)
@Z i0 @Z m0 @Z m @Z j @Z k @Z i0 @Z j @Z k @Z m
0 0 0 0 0 0 0 0 0 0
m i j
= Jii0 j 0 m0 Jm Jj Jk + Jii0 j 0 Jjm
i
Jkj + Jii0 j 0 Jji Jkm
j
+ Jii0 m0 Jm
m i
Jjk + Jii0 Jjkm
i
;

so, setting k 0 = m0 as a dummy index:

0 0 0 0 0 0 0 0 0 0
Jii0 j 0 k0 Jji Jkj Jm
k
+ Jii0 j 0 Jkj Jjm
i j
+ Jii0 j 0 Jji Jkm + Jii0 k0 Jjk
i k
Jm + Jii0 Jjkm
i
= 0: (4.6)

m
Then, multiply both sides by Jm0 , implying summation over m:

0 0 0 0 0 0 0 0 0 0
Jii0 j 0 k0 Jji Jkj Jm Jm0 + Jii0 j 0 Jkj Jjm
k m i m
Jm i i j
0 + J i0 j 0 J j J
m i i k m i i m
km Jm0 + Ji0 k0 Jjk Jm Jm0 + Ji0 Jjkm Jm0 = 0
0 0 0 0 0 0 0 0 0 0
Jii0 j 0 k0 Jji Jkj k
m0 + Jii0 j 0 Jkj Jjm
i m
Jm i i j
0 + J i0 j 0 J j J
m i i
km Jm0 + Ji0 k0 Jjk
k
m0 + Jii0 Jjkm
i m
Jm0 = 0;

This holds for all m0 , so specically for m0 = k 0 , the above identity reads
0 0 0 0 0 0 0 0
Jii0 j 0 k0 Jji Jkj + Jii0 j 0 Jkj Jjm
i j
Jkm0 + Jii0 j 0 Jji Jkm Jkm0 + Jii0 k0 Jjk
i
+ Jii0 Jjkm
i
Jkm0 = 0 (4.7)
 31

k 0
Next, in an analogous manner, multiply both sides by Jm 0 for arbitrary m :

0 0 0 0 0 0 0 0
Jii0 j 0 k0 Jji Jkj Jm
k i
0 + J i0 j 0 J
j i m k i i j m k i i k i i m k
k Jjm Jk0 Jm0 + Ji0 j 0 Jj Jkm Jk0 Jm0 + Ji0 k0 Jjk Jm0 + Ji0 Jjkm Jk0 Jm0 = 0
0 0 0 0 0 0 0 0
j
Jii0 j 0 k0 Jji m0 + Jii0 j 0 Jkj Jjm
i k
Jkm0 Jm i i j
0 + J i0 j 0 J j J
m k i i k i i m k
km Jk0 Jm0 + Ji0 k0 Jjk Jm0 + Ji0 Jjkm Jk0 Jm0 = 0;

rename the dummy index h0 = j 0 in all but the rst term:

0 j0 h0 i0 i0 h0 i0 k i i0
Jii0 j 0 k0 Jji i m k i m k i m k
m0 +Ji0 h0 Jk Jjm Jk0 Jm0 +Ji0 h0 Jj Jkm Jk0 Jm0 +Ji0 k0 Jjk Jm0 +Ji0 Jjkm Jk0 Jm0 = 0;

then, as in the previous exercises, set m0 = j 0 :

0 0 0 0 0 0 0
Jii0 j 0 k0 Jji +Jii0 h0 Jkh Jjm
i
Jkm0 Jjk0 +Jii0 h0 Jji Jkm
h
Jkm0 Jjk0 +Jii0 k0 Jjk
i
Jjk0 +Jii0 Jjkm
i
Jkm0 Jjk0 = 0;
(4.8)
j
Finally, multiply both sides by Jm 0 :

j0 0 0 0 0 0 0
m k j m k j k j m k j
Jii0 j 0 k0 Jji Jm i h i i i h i i i i
0 + Ji0 h0 Jk Jjm Jk 0 Jj 0 Jm0 + Ji0 h0 Jj Jkm Jk 0 Jj 0 Jm0 + Ji0 k 0 Jjk Jj 0 Jm0 + Ji0 Jjkm Jk 0 Jj 0 Jm0 = 0
0 0
i0 j 0
h0 j i0 k j i0 j
Jii0 j 0 k0 im0 + Jii0 h0 Jkh Jjm Jkm0 Jjk0 Jm 0 + Jii0 h0 Jji Jkm Jkm0 Jjk0 Jm 0 + Jii0 k0 Jjk Jj 0 Jm0 + Jii0 Jjkm Jkm0 Jjk0 Jm 0 = 0;

rename the dummy index i0 to g 0 in all but the rst term:

0
i0 h0 g m k j g 0 h0 m k j g0 k j i g
0
m k j
Jii0 j 0 k0 i i i
m0 +Jg 0 h0 Jk Jjm Jk0 Jj 0 Jm0 +Jg 0 h0 Jj Jkm Jk0 Jj 0 Jm0 +Jg 0 k0 Jjk Jj 0 Jm0 +Jg 0 Jjkm Jk0 Jj 0 Jm0 = 0:

Then, set m0 = i0 :
0 0 0 0 0 0
g
Jii0 j 0 k0 +Jgi 0 h0 Jkh Jjm Jkm0 Jjk0 Jij0 +Jgi 0 h0 Jjg Jkm
h g k j
Jkm0 Jjk0 Jij0 +Jgi 0 k0 Jjk g
Jj 0 Ji0 +Jgi 0 Jjkm Jkm0 Jjk0 Jij0 = 0:
(4.9)

Ex. 53: We have the following relationship

00
Z Z 0 Z (Z) = Z;

or for each i,
00
Z i Z 0 Z (Z) = Z i.

Dierentiating both sides with respect to Z j , we obtain

@ i
Z i (Z 0 (Z 00 (Z))) = j:
@Z j
32 CHAPTER 4. CHAPTER 4

Then, we apply the chain rule twice:

@Z i @ i
[Z 0 (Z 00 (Z))] = j
@Z i0 @Z j
@Z i @Z i @ h i00 i
0
i
0 00 Z (Z) = j
@Z i @Z i @Z j
0 00
@Z i @Z i @Z i i
= j;
@Z i0 @Z i00 @Z j

or 0 00
i
Jii0 Jii00 Jji = j:
Chapter 5

Chapter 5

Ex. 61: ij .
Ex. 62: Assume U is an arbitrary nontrivial linear combination U i Zi of
coordinate bases Zi . Since
U U >0

and
U U = Zij U i U j ;

or in matrix notation
U U = U T ZU ,

this condition implies Z = Zij is positive denite.

Ex. 63:
p
kV k = V V
q
= Zij V i V j

Ex. 64: Put Z = Zij . Thus, Z 1 = Z ij by denition. Let x be an

arbitrary nontrivial vector. Then, dene y = Z 1 x. We have
T
yT = Z 1
x
1 T
= xT Z
= xT Z 1
;

33
34 CHAPTER 5. CHAPTER 5

1
since Z is symmetric. Then, since Z is positive denite, note

0 < y T Zy
= xT Z 1 ZZ 1
x
= xT Z 1 x.

Since x was arbitrary, this implies that Z = Z ij > 0.

Ex. 65:

Zi Zj = Z ik Zk Zj
= Z ik Zkj

by denition. But,
i
Z ik Zkj = j;

so we have
i
Zi Zj = j

Ex. 66, 67: [Not sure - which coordinate system are we in (if any?)]

Ex. 68: Use the denition

Zi = Z ij Zj
Zik Zi = Zik Z ij Zj
= jk Zj
= Zk :

Thus,

Zk = Zik Zi
= Zki Zi ;

since Zik is symmetric.

Ex. 69: Examine

Zki Zi Zj = Zki Z in Zn Zj
= nk jn
= jk ;
 35

since nk jn = 1 i k = n and n = j, or by transitivity, i k = j. Thus, Zi Zj

determines the matrix inverse of Zki , which must be Z ij by uniqueness of matrix
inverse.
Ex. 70: Because the inverse of a matrix is uniquely determined, we have
that Zi are uniquely determined.

Ex. 71:

Z ij Zjk = Zi Zj Zjk
= Zi Zk ;

from 5.17
i
= k

from 5.16.

Ex. 72: We compute

1 1
Z1 Z2 = i j j
3 3
1 1
= i j j j
3 3
1 1 2
= kik kjk cos kjk
3 3 3
1 1 1 2
= (2) (1) 1
3 2 3
= 0;

thus, Z1 ; Z2 are orthogonal. We further compute

1 4
Z2 Z1 = i+ j i
3 3
1 2 4
= kik + kik kjk cos
3 3 3
1 4 1
= (4) + (2) (1)
3 3 2
= 0;

so Z2 ; Z1 are orthogonal.
36 CHAPTER 5. CHAPTER 5

Ex. 73:
1 1
Z1 Z1 = i j i
3 3
1 2 1
= kik kik kjk cos
3 3 3
4 2 1
=
3 3 2
= 1:
1 4
Z2 Z2 = i+ j j
3 3
1 4 2
= kik kjk cos + kjk
3 3 3
2 1 4
= +
3 2 3
= 1:

Ex. 74:
1 1 1 4
Z1 Z2 = i j i+ j
3 3 3 3
1 2 4 1 4 2
= kik + kik kjk cos + kik kjk cos kjk
9 9 3 9 3 9
4 4 1 4
= + +
9 9 9 9
3
=
9
1
= :
3

Ex. 75: Let R denote the position vector. We compute

@R (Z)
Z3 =
Z3
@R (r; ; z)
=
@z

for cylindrical coordinates

R (r; ; z + h) R (r; ; z)
= lim :
h!0 h
 37

But, R (r; ; z + h) R (r; ; z) is clearly a vector of length h pointing in the z

direction; thus, for any h,

R (r; ; z + h) R (r; ; z)
h
is the unit vector pointing in the z direction. This implies Z3 is the unit vector
pointing in the z direction.

Ex. 76: The computations of the diagonal elements Z11 and Z22 are the
same as for polar coordinates; moreover the zero o-diagonal entries Z12 , Z21
follow from the orthogonality of Z1 , Z2 . By denition of cylindrical coordinates,
the z axis is perpendicular to the coordinate plane (upon which Z1 , Z2 lie); thus,
since Z3 points in the z direction, we have that Z3 is perpendicular to both Z1 ,
Z2 . This implies that the o-diagonal entries in row 3 and column 3 of Zij are
zero. Morover, since Z3 is of unit length; we have Z33 = Z3 Z3 = 1. Thus,
we have 2 3
1 0 0
Zij = 40 r2 05 .
0 0 1

Now, since Z ij is dened to be the inverse of Zij , we may easily compute

2 3
1 0 0
Z ij = 40 r 2 05 ;
0 0 1

since the inverse of a diagonal matrix (with non-zero diagonal entries, of course)
is the diagonal matrix with corresponding reciprocal diagonal entries.

Ex. 77: We have

Z3 = Z 3j Zj
= 0Z1 + 0Z2 + 1Z3
= Z3
38 CHAPTER 5. CHAPTER 5
Chapter 6

Chapter 6

Ex. 87: Look at

0 0 0 0
Z ij Jii Jjj Zj 0 k0 = Z ij Jii Jjj Zjk Jjj0 Jkk0

by the tensor property of Zjk

0
= Z ij Zjk Jii Jkk0
i i0 k
= k Ji Jk 0
0
= Jki Jkk0
i0
= k0 ;

0 0
so, in linear algebra terms, we have that Z ij Jii Jjj is the matrix inverse of Zj 0 k0 .
0 0 0 0
By uniqueness of matrix inverses, this forces Z ij Jii Jjj = Z i j , as desired.

Ex. 88: Let Z,Z 0 be two coordinate systems. Write the unprimed coordi-
nates in terms of the primed coordinates
Z = Z (Z 0 ) :

Then,
@F (Z) @F (Z (Z 0 ))
=
@Z i0 @Z i0
@F @Z i
=
@Z i @Z i0
@F i
= J 0;
@Z i i

@F
so @Z i is a covariant tensor.

39
40 CHAPTER 6. CHAPTER 6

Ex. 89: We show the general case (since by the previous exercise, we know
that the collection of rst partial derivatives is a covariant tensor). Dene,
given a covariant tensor eld Ti

@Ti
Sij =
Zj
@Ti0
Si0 j 0 =
Z j0

so
@Ti0
Si0 j 0 =
@Z j 0
@
= Ti Jii0 ;
@Z j 0

since T is a covariant tensor,

@
= Ti (Z 0 (Z)) Jii0 (Z 0 )
Z j0
@T i @Z j i
= J 0 + Ti Jii0 j 0
@Z j @Z j 0 i
= Sij Jjj0 Jii0 + Ti Jii0 j 0
6= Sij Jjj0 Jii0

(except in the trivial case where Ti = 0). Thus, in general, the collection

@Ti
Zj

is not a covariant tensor.

Ex. 90: Compute

@Ti0 @Tj 0
Si0 j 0 = 0
@Z j @Z i0
@Ti j i @Tj i j
= J 0 J 0 + Ti Jii0 j 0 J 0 J 0 + Ti Jji0 i0
@Z j j i @Z i i j

by the above, interchanging the rolls of i0 ; j 0 for the second term:

@Ti j i @Tj j i
= J 0 J 0 + Ti Jii0 j 0 J 0 J 0 + Ti Jii0 j 0 ;
@Z j j i @Z i j i
 41

since Jji0 i0 = Jii0 j 0 ,

@Ti j i @Tj j i
= J 0 J 0 + Ti Jii0 j 0 J 0J 0 Ti Jii0 j 0
@Z j j i @Z i j i
@Ti @Tj
= Jjj0 Jii0
@Z j @Z i
= Sij Jii0 Jjj0 ;

so this skew-symmetric part Sij is indeed a covariant tensor.

Ex. 91: Put

@T i
S ij = ;
@Z j

so
0
i0 j 0 @T i
S =
@Z j 0
@ h i i0 i
= T Ji ;
@Z j 0

since T is a contravariant tensor,

@ h 0 i
i 0 i0 i @ i 0
= T (Z (Z)) J i + T J (Z (Z ))
@Z j 0 @Z j 0 i
0
i i j
@T j 0 i0 @J @Z
= Jj Ji + T i ij
@Z j @Z @Z j 0
0 0
i0 j
= S ij Jii Jjj + T i Jij Jj 0
0 0
6= S ij Jii Jjj

except in the trivial case.

Ex. 92: We have

k @Zi
ij = Zk ;
@Z j

so in primed coordinates,

k0 0 @Zi0
i0 j 0 = Zk
@Z j 0
0 @Zi i j
= Zk J 0 J 0 + Zi Jii0 j 0
@Z j i j
42 CHAPTER 6. CHAPTER 6

by our work done earlier (note that Zi is a covariant tensor)

0 @Zi i j
Zk Jkk J 0 J 0 + Zi Jii0 j 0
@Z j i j

since Z k is a contravariant tensor,

@Zi 0 0
= Zk Jkk Jii0 Jjj0 + Zk Zi Jkk Jii0 j 0
@Z j
@Zi 0
k k0 i
= Zk Jkk Jii0 Jjj0 + i J k J i0 j 0
@Z j
@Zi 0 0
= Zk Jkk Jii0 Jjj0 + Jik Jii0 j 0
@Z j
@Zi 0
k k0 i j
6= Zk Jkk Jii0 Jjj0 = ij Jk Ji0 Jj 0
@Z j

except in the trivial case.

Ex. 93: Compute

@Ti0 j 0 @ h i j
i
= T ij J i 0 Jj 0
@Z k0 @Z k 0

@ i j @ i j i @ h ji
= [T ij ] J i 0 Jj 0 + Tij J i 0 Jj 0 + Tij Ji0 J0
@Z k 0
@Z k 0
@Z k0 j
@
= [Tij ] Jii0 Jjj0 + Tij Jii0 k0 Jjj0 + Tij Jii0 Jjj0 k0
@Z k0
@
= [Tij (Z (Z 0 ))] Jii0 Jjj0 + Tij Jii0 k0 Jjj0 + Tij Jii0 Jjj0 k0
@Z k0
@Tij @Z k i j
= J 0 J 0 + Tij Jii0 k0 Jjj0 + Tij Jii0 Jjj0 k0
@Z k @Z k0 i j
@Tij k i j
= J 0 J 0 J 0 + Tij Jii0 k0 Jjj0 + Tij Jii0 Jjj0 k0 :
@Z k k i j
 43

Thus, from 5.66,

k0 1 k0 m0 @Zm0 i0 @Zm0 j 0 @Zi0 j 0
i0 j 0 = Z +
2 @Z j 0 @Z i0 @Z m0
1 km k0 m0 @Zm0 i0 @Zm0 j 0 @Zi0 j 0
= Z Jk Jm +
2 @Z j 0 @Z i0 @Z m0
1 km k0 m0 @Zmi j m i m i m i
= Z Jk Jm ( J 0 J 0 J 0 + Zmi Jm 0 j 0 Ji0 + Zmi Jm0 Ji0 j 0
2 @Z j j m i
@Zmj i m j m j m j
+ J 0 J 0 J 0 + Zmj Jm 0 i0 Jj 0 + Zmj Jm0 Ji0 j 0
@Z i i m j
@Zij m i j
J 0 J 0 J 0 Zij Jii0 m0 Jjj0 Zij Jii0 Jjj0 m0 )
@Z m m i j
1 km k0 m0 @Zmi j m i @Zmj i m j @Zij m i j
= Z Jk Jm Jj 0 Jm0 Ji0 + Ji0 Jm0 Jj 0 J 0J 0J 0
2 @Z j @Z i @Z m m i j
1 0
m0
+ Z km Jkk Jm Zmi Jm m i m i
0 j 0 Ji0 + Zmi Jm0 Ji0 j 0
2
1 0
m0 j m j
+ Z km Jkk Jm Zmj Jm m
0 i0 Jj 0 + Zmj Jm0 Ji0 j 0
2
1 km k0 m0
Z Jk Jm Zij Jii0 m0 Jjj0 + Zij Jii0 Jjj0 m0
2
1 km k0 j i @Zmi @Zmj @Zij
= Z J k J j 0 J i0 j
+ i
2 @Z @Z @Z m
1 0
m0
+ Z km Jkk Jm Zmi Jm m i m i
0 j 0 Ji0 + Zmi Jm0 Ji0 j 0
2
1 0
m0 j m j
+ Z km Jkk Jm Zmj Jm m
0 i0 Jj 0 + Zmj Jm0 Ji0 j 0
2
1 km k0 m0
Z Jk Jm Zij Jii0 m0 Jjj0 + Zij Jii0 Jjj0 m0
2
k k0 j i
= ij Jk Jj 0 Ji0
1 0
m0
+ Z km Zmi Jkk Jm Jmm i m i
0 j 0 Ji0 + Jm0 Ji0 j 0
2
1 0
m0 j m j
+ Z km Zmj Jkk Jm Jm m
0 i0 Jj 0 + Jm0 Ji0 j 0
2
1 km 0
m0
Z Zij Jkk Jm Jii0 m0 Jjj0 + Jii0 Jjj0 m0
2
k k0 j i
= ij Jk Jj 0 Ji0
1 0
m0
+ ki Jkk Jm Jm m i m i
0 j 0 Ji0 + Jm0 Ji0 j 0
2
1 0
m0 j m j
+ kj Jkk Jm Jm m
0 i0 Jj 0 + Jm0 Ji0 j 0
2
1 km 0
m0
Z Zij Jkk Jm Jii0 m0 Jjj0 + Jii0 Jjj0 m0
2
k k0 j i
= ij Jk Jj 0 Ji0
1 0 m0 m
+ Jik Jm Jm0 j 0 Jii0 + Jm m i
0 J i0 j 0
2
1 0 m0 j m j
+ Jjk Jm Jmm
0 i0 Jj 0 + Jm0 Ji0 j 0
2
1 km 0
m0
Z Zij Jkk Jm Jii0 m0 Jjj0 + Jii0 Jjj0 m0
2
k k0 j i
= ij Jk Jj 0 Ji0
1 0 m0 m 1 0 m0 m i
+ Jik Jm Jm0 j 0 Jii0 + Jik Jm Jm0 Ji0 j 0
2 2
1 0 0 j 1 0 0 j
44 CHAPTER 6. CHAPTER 6

k k0 j i
= ij Jk Jj 0 Ji0
1 0 m0 m 1 0
+ Jik Jii0 Jm Jm0 j 0 + Jik Jii0 j 0
2 2
1 0 m0 m 1 0
+ Jjk Jjj0 Jm Jm0 i0 + Jjk Jij0 j 0
2 2
1 km 0 0 1 km 0
m0 i j
Z Zij Jkk Jm m i
Ji0 m0 Jjj0 Z Zij Jkk Jm Ji0 Jj 0 m0
2 2
k k0 j i k0 i 1 k0 m0 m 1 0 m0 m 1 km 0
m0 i 1 km
= ij Jk Jj 0 Ji0 + Ji Ji0 j 0 + 0 J J 0 0 + kj 0 Jm Jm0 i0 Z Zij Jjj0 Jkk Jm Ji0 m0 Z Zij Jii0 Jk
2 i m mj 2 2 2
0 0
k k j i k i
= ij Jk Jj 0 Ji0 + Ji Ji0 j 0 + 0:

Thus, we have
k0 k k0 j i 0
i0 j 0 = ij Jk Jj 0 Ji0 + Jik Jii0 j 0 :

Ex. 94: We show the result for degree-one covariant tensors. The general-
ization to other tensors is then evident.

Assume Ti = 0. Then, since Ti0 = Ti Jii0 , we have Ti0 = 0.

Ex. 95: Note that in such a coordinate change,

0 0
Jii = Aii ;

so the "Hessian" object 0

i
Jij = 0;

0
since Aii is assumed to be constant with respect to Z. This means that all but
i0 @T 0
the rst terms in the above computations of @T
0 0
i0
, @T , @Zi kj0 , and even ik0 j 0 are
Z j 0 @Z j 0
zero, and hence we have that each of these objects have this "tensor property"
with respect to coordinate changes that are linear transformations.

Ex. 96: Since the sum of two tensors is a tensor, we may inductively show
that the sum of nitely many tensors is a tensor. We must show that for any
constant c,
cAijk
 45

is a tensor. Compute 0 0
cAij 0 k0 = cAijk Jii Jjj0 Jkk0 ;

i
since Aijk is a tensor. Thus, by the above, we have if each A (n)jk is a tensor,
then the sum
XN
i
cn A (n)jk
n=1

is a tensor. Thus, linear combinations of tensors are tensors.

Ex. 97: We have that

Si T ij = Si ik T kj
= ik Si T kj ;

which is a tensor, since both ik and Si T kj are tensors by the previous section
and by the fact that the product of two tensors is a tensor.
i i
Ex. 98: i = n by the summation convention. Thus, i returns the
dimension of the ambient space.

Ex. 99: We have

Vij = Vijk Zk ;

so
Vij Zm = Vijk Zk Zm
= Vijk m
k
= Vijm

so substituting m = k, we have an expression for the components

Vijk = Vij Zk

So,
0 0
Vik0 j 0 = Vi0 j 0 Zk
0
= Vij Jii0 Jjj0 Zk Jkk ;

since both Vij ; Zk are tensors

0
= Vij Zk Jii0 Jjj0 Jkk
46 CHAPTER 6. CHAPTER 6

by linearity 0
= Vijk Jii0 Jjj0 Jkk

as desired.

Ex. 100: Fix a coordinate system Z i

Tkij = Tkij Jii Jjj Jkk ;

so
0 0 0 0
Tkij Jii Jjj Jkk0 = Tkij Jii Jjj Jkk Jii Jjj Jkk0
i0 j 0 k
= Tkij i j k0
0 0
= Tki0j ;

as desired.
Chapter 7

Chapter 7

47
48 CHAPTER 7. CHAPTER 7
Chapter 8

Chapter 8

49
50 CHAPTER 8. CHAPTER 8
Chapter 9

Chapter 9

Ex. 183: Assume n = 3. Given aij , put A as the determinant. We dene

A = eijk ai1 aj2 ak3 :

Note that switching the roles of 1; 2 in the above equation yields

eijk ai2 aj1 ak3 = eijk aj1 ai2 ak3

= ejik ai1 aj2 ak3
= eijk ai1 aj2 ak3
= A

Generalizing, we let (r; s; t) be a permutation of (1; 2; 3). We may then see

that
A = eijk erst air ajs akt

(note that the summation convention is not implied in the above line). Then,
since there are 3! permutations of (1; 2; 3), we may write
X
3!A = eijk erst air ajs akt
p ermutations
(r;s;t)

But, erst = 0 for (r; s; t) that is not a permutation; hence we may sum over
all 0 r; s; t 3, and apply the Einstein summation convention:

3!A = eijk erst air ajs akt ;

or
1 ijk
A= e erst air ajs akt
3!

51
52 CHAPTER 9. CHAPTER 9

We may similarly show that for aij , we have

1
A= eijk ai1 aj2 ak3 :
3!

Ex. 184: We have

123 r s t 123 s r t
rst a2 a2 a3 = srt a2 a2 a3

after index renaming

123 r s t
= srt a2 a2 a3
123 r s t
= rst a2 a2 a3 :

Since
123 r s t 123 r s t
rst a2 a2 a3 = rst a2 a2 a3 ;

we need
123 r s t
rst a2 a2 a3 = 0:

132 s r t
The result for srt a2 a3 a2 follows similarly.

Ex. 185: Note

123
rst = e123 erst = 1 erst = erst ;

so
123 r s t
rst a1 a2 a3 = erst ar1 as2 at3 = A:

Also,
132 r s t
rst a2 a3 a1 = 132 t r s
rst a1 a2 a3
= 132 r s t
str a1 a2 a3
123 r s t
= str a1 a2 a3
= estr ar1 as2 at3
= A:
 53

[Note: Is there an error somewhere - should this be A?]

Ex. 186: Dene

1 ijk rst
Air = e e ajs atk :
2!

We check that
@A
= Air :
@air

Check
@A 1 ijk rst @ (air ajs akt )
= e e
@alu 3! @alu
1 ijk rst @air @ajs @akt
= e e ajs akt + air akt + air ajs
3! @alu @alu @alu
1 ijk rst h l u l u l u
i
= e e i r ajs akt + air j s akt + air ajs k t
3!
1 h ijk l rst u ijk l rst u ijk l rst u
i
= e ie r ajs akt + air e je s akt + air ajs e ke t
3!
1 ljk ust
= e e ajs akt + air eilk erut akt + air ajs eijl ersu
3!
1 ljk ust
= e e ajs akt + eilk erut air akt + eijl ersu air ajs
3!
1
= 3eljk eust ajs akt ;
3!

after an index renaming,

1 ljk ust
= e e ajs akt
2!
= Alu

as desired. Similarly, if we dene

1
Air = eijk erst ajs atk ;
2!

we have
@A
= Air
@air

by a similar argument.
Ex. 187: In cartesian coordinates,
i
Zij = j;
54 CHAPTER 9. CHAPTER 9

so

Z = jZ j
= jIj
= 1:

Thus, p
Z = 1:

In polar coordinates,
1 0
[Zij ] = ;
0 r2

so
1 0
Z =
0 r2
= r2 ;

hence p
Z = r:

In spherical coordinates,
2 3
1 0 0
[Zij ] = 40 r2 0 5;
0 0 r2 sin2

so
1 0 0
Z = 0 r2 0
0 0 r2 sin2
= r4 sin2 ;

thus, p
Z = r2 sin :
 55

Ex. 188: We compute, using the Voss-Weyl formula,

1 @ p @F
ri ri F = p ZZ ij
Z @Z i @Z j
1 @ @F @ @F @ @F
= r2 sin (1) + r2 sin r2 + r2 sin r2 sin2
r2 sin @r @r @ @ @ @
1 @ @F @ @F @ @F
= r2 sin + r4 sin + r4 sin3
r2 sin @r @r @ @ @ @
1 @ @F @ @F @ @F
= sin r2 + r4 sin + r4 sin3
r2 sin @r @r @ @ @ @
1 @F @2F @F @2F @2F
= sin 2r + r2 2 + r4 cos + sin + r4 sin3
r2 sin @r @r @ @ 2 @ 2
1 @F @2F r2
@F @2F @2F
= 2r + r2 2 + cos
+ sin + r2 sin2
r2 @r @r sin
@ @ 2 @ 2
2 @F @2F @F @2F @2F
= + + r2 cot + r2 2 + r2 sin2
r @r @r2 @ @ @ 2
@2F 2 @F @2F @F @2F
= + + r2 2 + r2 cot + r2 sin2
@r2 r @r @ @ @ 2

Ex. 189: We compute, for cylindrical coordinates

1 @ p @F
ri ri F = p i
ZZ ij j
Z @Z @Z
1 @ @F @ @F @ @F
= r (1) + r r2 + r (1)
r @r @r @ @ @z @z
2 2
1 @ @F @ F @ F
= r + r3 2 + r 2
r @r @r @ @z
2 2
1 @F @ F @ F @2F
= + r 2 + r3 2 + r 2
r @r @r @ @z
2 2 2
@ F 1 @F @ F @ F
= + + r2 2 + :
@r2 r @r @ @z 2
56 CHAPTER 9. CHAPTER 9
Part II

Part II

57
Chapter 10

Chapter 10

Ex. 213: Note that

Z i Zj = S Zi (S Zj )
= S (S Zj ) Zi
= (S Zj ) S Zi
i
6 = j;

since
(S Zj ) S

is merely the projection of Zj onto the tangent space. [ASK]

EARLIER ATTEMPT:
i
Z i Zj = j
i
S Zi Zj S = j
i i
S S Z Zj = j
i i
S Zj Z = j
i
S Zj Z = Zj Zi ;

which forces
S Zj = Zj

??? [Not sure - maybe a dimensional argument?]

59
60 CHAPTER 10. CHAPTER 10

Ex. 214: We have

T i = T Zi :

Now,

T i Zi = T Z i Zi
= T
= T ;

as desired.

Ex. 215: We show that (V P) N = 0. Compute

(V P) N = (V (V N) N) N
= V N (V N) (N N)
= V N V N
= 0;

since
N N =1.

Ex. 216: We compute

Pji Pkj = N i Nj N j Nk
= N i (1) Nk
= Pki ;

as desired.

Ex. 217: We show that V T is orthogonal to the tangent plane. We

compute

(V T) S = (V (V S )S ) S
= V S (V S ) S S
= V S (V S )
= V S V S
= 0:
 61

Ex. 218: Similarly to 216, we have, given denition Tji = N i Nj

Tji Tkj = N i Nj N j Nk
= N i Nk
= Tki :

[Note: This seems like the exact same problem - do we mean to dene
Tji = T i Tj ?]

Ex. 219: We have [Note that this implies 213 additionally]

i
N i Nj + Z i Zj = j:

Contract both sides with Ni :

i
N i Nj Ni + Z i Zj Ni = j Ni

Ni N i Nj + Ni Z i Zj = Nj
i
Ni N Nj + 0 = Nj
Ni N i Nj = Nj ;

where the third line follows from Ni Z i = 0. Now, this holds for all Nj , for which
at least one is nonzero (we cannot have the normal vector be zero). Hence, we
have
Ni N i = 1;

as desired.

Ex. 220: Using similar manipulations of indices to the earlier discussion of

the Levy-Civita symbols, we derive
1 ijk t s 1 ijk s t
rst Tj Tk = rts Tj Tk
4 4
1 ijk s t
= rst Tj Tk ;
4

so
1 ijk s t 1 ijk t s
N i Nr = rst Tj Tk rst Tj Tk
4 4
1 ijk s t
= 2 rst Tj Tk
4
1 ijk s t
= rst Tj Tk :
2
62 CHAPTER 10. CHAPTER 10

Ex. 221: This result follows exactly as was done earlier, except we use the
new denition of the Jacobian for surface coordinates
0
0 @S
J = :
@S

Ex. 222: From before, we have

@Zij l l
= Zli jk + Zlj ik :
@Z k

From the analogous denitions of S ; we have

@S
=S +S
@S
compute

1 ! @S! @S! @S
S +
2 @S @S @S !
1 !
= S S! +S ! +S ! +S ! S ! +S !
2
1 !
= S S! +S ! +S ! +S ! S ! S !
2
1
= + S !S + +S !
S ! S !
S ! S !
S !
2
1
= 2
2
= ;

as desired.

Ex. 223: Assume the ambient space is reered to a ne coordiantes. We

have
@Z i
= Zi + ijk Z Z j Z k
@S
@Z i
= Zi + 0;
@S

i
since jk = 0 in a ne coordinates.
 63

Ex. 224 [Still Working]

Ex. 225 We compute, given

Z1 ( ; ) = R
Z2 ( ; ) =
Z3 ( ; ) =

@Z i
Zi =
@S
2 3
@Z 1 @Z 1
@S 12 @S 2
6 @Z @Z 2 7
= 4 @S 1 @S 2 5
@Z 3 @Z 3
@S 1 @S 2
2 3
0 0
= 41 05 ;
0 1

then, note that since

2 3
0 0
0 1 0 4 1 0
1 05 = ;
0 0 1 0 1
0 1

we have
0 1 0
Zi =
0 0 1
2 3 2 3
0 0
Ni = 415 405
0 1
i j k
= 0 1 0
0 0 1
= i2 3
1
= 405
0

S1 = Z1i Zi
= Z12 Z2
= R cos cos i + R cos sin j R sin k
S2 = Z2i Zi
= Z23 Z3
= R sin sin i + R sin cos j
64 CHAPTER 10. CHAPTER 10

R2 cos2 cos2 + R2 cos2 sin2 + R2 sin2 R2 cos cos sin sin + R2 cos sin
S =
R2 cos cos sin sin + R2 cos sin sin cos R2 sin2 sin2 + R2 sin2 cos2
R2 0
= [ASK - should this be the same as when the ambient coordinates are Cart.?
0 R2 sin2
R 2 0
S = 2
0 R 2 sin
s
p R2 0
S =
0 R2 sin2
= R2 sin :

Now, recall the Christoel symbols for the ambient space (in spherical coords):

1
22 = r
1
33 = r sin2
2 2 1
12 = 21 =
r
2
33 = sin cos
3 3 1
13 = 31 =
r
2 2
23 = 32 = cot :

Now, setting as coord. 1 and as coord. 2, and using

@Z i
= Zi + i
jk Z Zj Zk;
@S
 65

we compute

1 @Z1i 1 j k
11 = Zi1 + i
jk Z Z1 Z1
@S 1
@Z 2 1 j k
= Z21 11 + 2
jk Z2 Z1 Z1
@S
2
@Z
= Z21 11 + 2 1 2 2
22 Z2 Z1 Z1
@S
@Z12
=
@S 1
= 0
1 1 i 1 j k
21 = 12 = 0 + jk Z Z2 Z1
2 1 j k
= jk Z2 Z2 Z1
2 1 3 2
= 32 Z2 Z2 Z1
= cot (1) (1) (1)
= cot
1 i 1 j k
22 = jk Z Z2 Z2
2 1 j k
= jk Z2 Z2 Z2
2 1 3 3
= 33 Z2 Z2 Z2
= sin cos

2 i 2 j k
11 = jk Z Z1 Z1
3 2 j k
= jk Z3 Z1 Z1
3 2 2 2
= 22 Z3 Z1 Z1
= 0
2 2 i 2 j k
21 = 12 = jk Z Z2 Z1
3 2 j k
= jk Z3 Z2 Z1
3 2 3 2
= 32 Z3 Z2 Z1
= 0
2 i 2 j k
22 = jk Z Z2 Z2
3 2 3 3
= 33 Z3 Z2 Z2
= 0;

@Z i
(note @S vanishes in each computation).
66 CHAPTER 10. CHAPTER 10

Ex. 226: We have

q
2 2
(x0 (s)) + (y 0 (s)) = 1;

since this is an arc-length parametrization. Thus,

y 0 (s)
Ni =
x0 (s)
2 2
S = (x0 (s)) + (y 0 (s))
= 1
S = 1
p
S = 1

[ASK why x0 x00 + y 0 y 00 = 0].

Ex. 227: Simply denote t = x, and then we have the parametrization

x (t) = t
y (t) = y (t) ;

and ccompute these objects in the preceding section, noting that x0 (t) = 1.
The, re-substitute x = t.

Ex. 228: Again, we have (in polar coordinates)

q
2 2 2
r0 (s) + r (s) 0 (s) = 1,

so the results follow similarly to the above cases.

Chapter 11

Chapter 11

Ex. 229: This follows similarly as with the ambient covariant derviative, us-
ing the tensor properties of T (S) given in surface coordinates, and using the
0
analogous Jacobians J .

Ex. 230: The sum rule is clear from the sum rule of the partial derivative,
and the properties of contraction. Also, the product rule follows as with the
ambient case.

Ex. 231: We compute, using

1 ! @S! @S! @S
= S +
2 @S @S @S !

@S
r S = S S
@S
@S
= S S
@S
@S 1 ! @S! @S! @S 1 ! @S! @S! @S
= S + S S + S
@S 2 @S @S @S ! 2 @S @S @S !
@S 1 ! @S! @S! @S 1 ! @S! @S! @S
= + +
@S 2 @S @S @S ! 2 @S @S @S !
@S 1 @S @S @S 1 @S @S @S
= + +
@S 2 @S @S @S 2 @S @S @S
@S 1 @S 1 @S
=
@S 2 @S 2 @S
= 0:

Similarly, we may show that in the contravariant case,

r S = 0:

67
68 CHAPTER 11. CHAPTER 11

For the Levy-Civita symbols, note

p
" = Se
1
" = p e
S

The result follows similarly to the ambient case, carefully noting that
@S
=S :
@S

The delta systems follow from the product rule and the fact that r S =
r " = r " = 0:

Ex. 232: Commutativity with contraction follows exactly as in the ambient

case.

Ex. 233: We compute, using

R 2 0
S = 2 2 ;
0 R sin

the following:
1 @ p @F
r r F = p SS
S @S @S
1 @ @F 1 @ @F
= 2
R2 sin S 1 + 2 R2 sin S 2
R sin @ @S R sin @ @S
1 @ @F 1 @ @F
= 2
R2 sin S 11 + 2 R2 sin S 22
R sin @ @ R sin @ @
1 @ @F 1 @ 2 @F
= R2 sin R 2 + 2 R2 sin R 2 sin
R2 sin @ @ R sin @ @
1 @ @F 1 @ 1 @F
= sin + 2
R2 sin @ @ R sin @ sin @
1 @ @F 1 @2F
= sin + 2 2 :
2
R sin @ @ R sin @ 2

Ex. 234: For the surface of a cylinder, note

R 2 0
S =
0 1
p
S = R;
 69

so

1 @ p @F
r r F = p SS
S @S @S
1 @ @F 1 @ @F
= RS 11 + RS 22
R@ @ R @z @z
1 @2F @2F
= + :
R2 @ 2 @z 2

Ex. 235: Note

2
(R + r cos ) 0
S = 2
0 r
p
S = r (R + r cos ) ;

and compute

1 @ p @F
r r F = p SS
S @S @S
1 @ @F
= r (R + r cos ) S 1
r (R + r cos ) @ @S
1 @ @F
+ r (R + r cos ) S 2
r (R + r cos ) @ @S
1 @ 2 @F
= r (R + r cos ) (R + r cos )
r (R + r cos ) @ @
1 @ @F
+ r (R + r cos ) r 2
r (R + r cos ) @ @
2
1 @ F 1 @ @F
= 2 2 + r 2 (R + r cos ) @ (R + r cos ) :
(R + r cos ) @ @

Ex. 236: We have

" #
2
r (z) 0
S = 1
0 1+r 0 (z)2
p q
2
S = r (z) 1 + r0 (z) ;
70 CHAPTER 11. CHAPTER 11

Thus,

1 @ p @F
r r F = p SS
S @S @S
1 @ p 11 @F 1 @ p @F
= q SS + q SS 22
2 @ @ 2 @z @z
r (z) 1 + r0 (z) r (z) 1 + r0 (z)
q
1 @ 2 2 @F
= q r (z) 1 + r0 (z) r (z)
2 @ @
r (z) 1 + r0 (z)
q !
1 @ 2 1 @F
+ q r (z) 1 + r0 (z) 2
2 @z 1 + r0 (z) @z
r (z) 1 + r0 (z)
0 1
1 @ @ r (z) @F A 1 @2F
= q q + 2 2 :
2 @z 2 @z r (z) @
r (z) 1 + r0 (z) 1 + r0 (z)

Ex. 237: These were computed earlier.

Ex. 238: We compute:

@Zi
r Zi = Z j kij Zk
@S
@Zi @Z m
= Z j kij Zk
@Z m @S
@Zi m
= Z Z j kij Zk
@Z m
k m
= im Zk Z Z j kij Zk
= Zm k
im Zj k
ij Zk
= 0;

after index renaming. The contravariant case follows similarly. Also, since
Zij = Zi Zj ; we have
r Zij = 0

by the product rule. Similarly,

r Z ij = 0:

[Levy-Civita Symbols to come]

 71

Ex. 239: Begin with equation 10.41:

Ni N i = 1;

and compute take the surface covariant derivative of both sides:

0 = r Ni N i
= r Ni N i + Ni r N i
= r N j Zij Nk Z ik + Ni r N i
= r N j Zij Nk Z ik + Ni r N i ;

by the metrinilic property,

k
= r N j Nk j + Ni r N i
= r N k Nk + Ni r N i
= Nk r N k + Ni r N i
= 2Ni r N i ;

after index renaming. Thus,

Ni r N i = 0:
72 CHAPTER 11. CHAPTER 11

Ex. 240: We compute

1
"ijk " Zj Nk = "ijk " Zj "kmn " Z m Z n
2
1 ijk
= " "kmn " " Zj Z m Z n
2
1 ijk
= Zj Z m Z n
2 kmn
1 ijk
= Zj Z m Z n
2 mkn
1 ijk
= Zj Z m Z n
2 mnk
1 ij
= 2 Zj Z m Z n
2 mn
ij
= mn Zj Z m Z n
i j j i
= m n m n Zj Z m Z n
i j j i i j j i
= m n Zj Z m Z n m n Zj Z m Z n m n Zj Z m Z n + m n Zj Z m Z
= Zj Z i Z j Zj Z j Z i Zj Z i Z j + Zj Z j Z i
= Zi Zi Zi + Zi
= Zi Zi Zi + Zi

[Some factors of 2 needed?]

Ex. 241: Note that for a general covariant-contravariant tensor, we have

r Tji = Z k rk Tji :

Thus,
r u = Z k rk u

and
k
r u=Z rk u:

Thus,
k
r r u = r Z rk u
= r Z r k u + Z k r rk u
k

= B N k rk u + Z k Z m rm rk u:
= B N k rk u + Z k
Zn Z mn rm rk u
= B N k rk u + Z k
Zn S Z mn rm rk u
 73

Now, set = and contract:

r r u = B N k rk u + Z k
Zn S Z mn rm rk u
= B N k rk u + Z k Zn Z mn rm rk u
= B N k rk u + Z k Zn Z mn rm rk u:

Now,
k
N k Nn + Z k Zn = n;

so
k
Z k Zn = n N k Nn :

We substitute in the above:

k
r r u = B N k rk u + n N k Nn Z mn rm rk u
= B N k rk u + Z km rm rk u N k Nn Z mn rm rk u
= B N k rk u + rm rm u N m N k rm rk u;

or after renaming dummy indices,

r r u = B N i ri u + ri ri u N i N j ri rj u;

or
N i N j r i r j u = ri ri u r r u + B N i ri u
Ex. 242: Let
Z i (s)

be the parametrization of the line normal to the surface, emanating from point
Z0i . Note that we have
dZ i Z i (h) Z0i
(0) = lim = N i:
ds h!0 h

also, compute
d dZ i d2 Z i dZ i dZi
Zi = 2
Zi + (Z (s))
ds ds ds ds ds
d2 Z i dZ i @Zi dZ k
= Zi +
ds2 ds @Z k ds
d2 Z i dZ i n dZ k
= Zi + Z n ;
ds2 ds ik ds
74 CHAPTER 11. CHAPTER 11

so at s = 0;

d dZ i d2 Z i
Zi js=0 = Zi + N i nik Zn N k
ds ds ds2
d2 Z i
= Zi + N i N k nik Zn
ds2
d2 Z i
= Zi + N j N k njk Zi
ds2
d2 Z i
= + N j N k ijk Zi
ds2

Now, examine the LHS of the above. Since

d dZ i
Zi
ds ds

represents the second derivative of a line, the LHS vanishes. Thus,

d2 Z i
= NjNk i
jk ;
ds2

Then, dene
F (s) = u (Z (s)) ;

so
@u dZ i
F 0 (s) = i
(Z (s)) (s)
@Z ds
d @u dZ i @u d dZ i
F 00 (s) = (Z (s)) (s) + (Z (s)) (s)
ds @Z i ds @Z i ds ds
@2u dZ i dZ j @u d2 Z i
= (Z (s)) (s) (s) + (Z (s)) (s) :
@Z i @Z j ds ds @Z i ds2

at s = 0 :
@2u @u d2 Z i
F 00 (0) = (Z (0)) N i j
N + (Z (0)) (0)
@Z i @Z j @Z i ds2
@ d2 Z i
= j
[ri u] N i N j + ri u 2 (0)
@Z ds

now, note
 75

@ri u k
rj ri u = ij rk u
@Z j
@ri u k
= rj ri u + ij rk u;
@Z j

so
d2 Z i
F 00 (0) = rj ri u + k
ij rk u N i N j + ri u (0)
ds2
d2 Z i
= rj ri uN i N j + kij rk uN i N j + ri u 2 (0)
ds
i j i j k j k i
= N N rj ri u + N N ij rk u N N jk ri u
= N i N j rj ri u;

thus
@2u
= F 00 (0) = N i N j ri rj u
@n2

after renaming indices.

76 CHAPTER 11. CHAPTER 11
Chapter 12

Chapter 12

Ex. 243: This follows from the denition and from lowering the index .

Ex. 244: We have

@ @ ! !
R = + ! ! ;
@S @S

so

@ @ ! !
R = + ! !
@S @S
@ @ ! !
= + ! !
@S @S
@ @
=
@S @S
= 0:

Ex. 245: This was done for the nal exam.

Ex. 246: Compute

R = R (12.5)
= R (12.3)
= R (12.5).

77
78 CHAPTER 12. CHAPTER 12

Ex. 247: Examine

R = R
= S R
= S R
= S R
= R
= R
= R :

Ex. 248: We may easily see the symmetry of the Einstein tensor from the
fact that both R and S are symmetric.

Ex. 249: Note

1
G = R S RS S
2
1
= R S R ;
2

so
G = R S R
= R R
= R R
= 0;

since R = R by denition.

Ex. 250: We compute

(r r r r )T = (r r r r )T S
= R " T "S
= R " S T"
= R " T"
= R " T! S "!
= R" T! S "!
= R" S "! T!
!
= R T!
= R T ;
 79

with index renaming at the last step.

Ex. 251: The invariant case follows from the commutativity of partial
derivatives. Now, we consider the covariant case:

(r r r r )Ti = r r Ti r r Ti
!
@ r Ti @ r Ti
= r Ti r Ti
@S @S
@ r Ti @ r Ti
=
@S @S
i
@ @T @ @T i
= + Z k ikm T m + Zk i
km T
m
@S @S @S @S
@2T i @ @2T i @
= + Z k ikm T m Zk i
km T
m
@S @S @S @S @S @S
@ @
= Z k ikm T m Z k ikm T m
@S @S
@Z k i m @ i @T m
= km T + Z k km + Z k ikm
@S @S @S
@Z k i m @ i
@T m
km T Z k km T m Z k ikm
@S @S @S
= 0 [not sure yet]
80 CHAPTER 12. CHAPTER 12

Ex. 252: Look at

@ ; @ ; ! !
R +R +R = + !; !;
@S @S
@ ; @ ; ! !
+ + !; !;
@S @S
@ ; @ ; ! !
+ + !; !;
@S @S
@ ; @ ; ! !
= + !; !;
@S @S
@ ; @ ; ! !
+ + !; !;
@S @S
@ ; @ ; ! !
+ + !; !;
@S @S
! !
= !; !;
! !
+ !; !;
! !
+ !; !;
" ! " !
= S!" S!"
+S!" " ! S!" " !
+S!" " ! S!" " !
= S!" " ! S"! ! "
" !
+S!" S"! ! "
+S!" " ! S"! ! "
= S!" " ! S!" " !
+S!" " ! S!" " !
" !
+S!" S!" " !
= 0;

as desired.
 81

Ex. 253: Compute

@R ! ! ! !
r" R +r R " +r R " = " R! "R ! "R ! "R !
@S "
@R " ! ! ! !
+ R! " R ! " R !" " R !
@S
@R " ! ! ! !
+ R! " R !" " R ! R "!
@S
@R ! ! ! !
= " R! "R ! "R ! "R !
@S "
@R " ! ! ! !
+ R! " R ! " R !" + " R !
@S
@R " ! ! ! !
+ R! " R !" + " R ! + R !"
@S
@R ! !
= " R! "R !
@S "
@R " ! !
+ R! " R ! "
@S
@R " ! !
+ R! " R !"
@S
@R ! @ !; @ !; ! @ ; !
= " + ;! ; ! "
@S " @S @S @S
+:::

Ex. 254: Compute

1 1 R1212
" " R = " " " "
4 4 S
1 R1212
= (2) (2)
4 S
R1212
=
S
= K;

as desired.
82 CHAPTER 12. CHAPTER 12

Ex. 255: Compute

1
K (S S S S ) = " " R (S S S S )
4
1 1
= " " S S R " " S S
4 4
1 1
= " " S S R + " " S S
4 4
1 1
= R + R
4 4
1 1
= (2) R + (2) R
4 4
= R :

Ex. 256: Note

1 1
R = R! S! S ;
2 2

so
1 1
R = R! S ! S
2 2
1
= K"! " S ! S
2
1
= K
2
= K

Ex. 257: This follows since

r S =r S ;

hence
NB = NB ;

or
B =B :
 83

Ex. 258: Note that since B = 0, we have that both eigenvalues of B

are equal in absolute value and are negatives of each other; denote them ; .
Thus,
2
jB j = :

Now,
B B := C :

In linear algebra terms, we have

C =B2

then,

B B = tr B 2
= 1 + 2;

2 2
where 1 ; 2 are the eigenvalues of B 2 . But, since 1 = and 2 =( ) =
2
by the properties of eigenvalues, we have
2
B B = 2
= 2 jB j

by the above.

Ex. 259: We compute, given

z b
r (z) = a cosh
a
(z b)=a
e + e(b z)=a
= a
2
a (z b)=a a
= e + e(b z)=a
2 2
1 (z 1 (b
r0 (z) = e b)=a
e z)=a
2 2

1 (z 1 (b
r00 (z) = e b)=a
+ e z)=a
:
2a 2a
84 CHAPTER 12. CHAPTER 12

Compute

2 1 (z 1 (b a (z a 1 (z 1 (b
r00 (z) r (z) r0 (z) = e b)=a
+ e z)=a
e b)=a
+ e(b z)=a e b)=a
e z)=a
2a 2a 2 2 2 2
1 2(z b)=a 1 2(b z)=a 1 2(z b)=a 1
= e e e 1 + e2(b z)=a
4 4 4 4
= 1

Thus,

2
r00 (z) r0 (z) r0 (z) 1=0

2
r00 (z) r0 (z) r0 (z) 1
B = q
2
r (z) 1 + r0 (z)
= 0;

as desired.

Ex. 260: We have

dR
V = (S (t))
dt
@R dS
=
@S dt
= S V
= V S

as desired.
 85

Ex. 261: Compute

dV
A =
dt
d
= [V S ]
dt
dV dS
= S +V (S (t))
dt dt
dV @S dS
= S +V
dt @S dt
dV @S
= S +V V
dt @S
dV
= S +V V r S + S
dt
dV
= S +V V S +V V r S
dt
dV
= S +V V S +V V r S
dt
V
= S +V V r S
t
V
= S + NV V B
t
V
= S + NB V V ;
t

as desired.

Ex. 262: We dene

T dT ! !
= +V !T V T!:
t dt

Ex. 263: Look at

0 0
T 0 dT 0 0
! ! 0
= +V !T 0 V 0 T!
t dt
d 0 0 0
= T J (S (t)) J 0 (S 0 (t)) + V !
!T J 0 V ! 0 T! J
dt
0
dT 0 @J dS @J 0 0 dS 0 0
! ! 0
= J J 0 +T J 0 +T J +V !T J 0 V 0 T! J
dt @S dt @S 0 dt
dT 0 0 0 0 0
! ! 0
= J J 0 + T J V J 0 + T J 0 0V J + V !T J 0 V 0 T! J
dt
= ::: ???
T 0
= J J 0
t
86 CHAPTER 12. CHAPTER 12

Ex. 264: These follow from the properties of the standard derivative.

Ex. 265: This also follows from the properties of the standard derivative.

Ex. 266: Not sure - are we considering the surface metrics as functions of
time? In that case, would this be a moving surface, and then we would require
the derivative in Part III?

Ex. 267: Compute

S dS (S (t))
= V ! S!
t dt
@S dS
= V ! S!
@S dt
= r S + ! S! V V !
S!
! !
= r S V +V S! V S!
= r S V
= NB V
= NV B ;

as desired.

Ex. 268: This follows from the sum and product rules.

Ex. 269: [Not nished]

Ex. 270: For a cylinder, we have

1
R 0
B = ;
0 0

so

K = jB j
1
= 0
R
= 0:
 87

Ex. 271: For a cone, we have

cot
r 0
B = ;
0 0

which has determinant zero. Thus,

K = 0:

Ex. 272: For a sphere, we have

1
R 0
B = 1 ;
0 R

so
1 1
K = jB j =
R R
1
=
R2

Ex. 273: For a torus, we have

cos
R+r cos 0
B = 1 ;
0 r

so
cos
K=
r (R + r cos )

Ex. 274: For a surface of revolution, we have

2 3
p1 2
0
0
r(z) 1+r (z)
B =4 r 00 (z)
5;
0 0 (z)2 3=2
(1+r )

so
1 r00 (z)
K = q 3=2
2 2
r (z) 1 + r0 (z) 1 + r0 (z)
r00 (z)
= 2
2
r (z) 1 + r0 (z)
88 CHAPTER 12. CHAPTER 12

Ex. 275: We integrate

Z Z
1
KdS = 2
dS
S S R
Z
1
= dS
R2 S
1
= 4 R2
R2
= 4

Ex. 276: We integrate

Z Z 2 Z 2 p
cos cos
dS = Sd d
S r (R + r cos ) 0 0 r (R + r cos )
Z 2 Z 2
cos
= r (R + r cos ) d d
0 0 r (R + r cos )
Z 2 Z 2
= cos d d
0 0
= 2 (sin (2 ) sin (0))
= 0:
Part III

Part III

89
 91

Ex. 291: We have

( ) = arccot (At cot ) ;

so

= arccot (At cot )

cot = At cot
1
cot = cot
At
1
( ) = arccot cot
At

@S (t; S 0 )
Jt =
@t
@ 1
= arccot cot
@t At
1 cot
=
1 + A21t2 cot2 At2
cot
=
At2 + A1 cot2
A cot
=
A2 t2 + cot2

0 @
Jt = arccot (At cot )
@t
A cot
=
1 + A2 t2 cot2

Ex. 292:

@Z i A cos
V = =
@t 0
92

Ex. 293:
2 3
@ p A cos
@Z i 6 @t cos2 +A2 t2 sin2 7
Vi = =6
4@
7
5
@t p A sin
@t cos2 +A2 t2 sin2
2 2
t sin2
3
p2A A cos
3
cos2 +A2 t2 sin2
= 4 2
2 2
5
p2A t sin A sin
3
2 cos2 +A2 t2 sin2
2 A3 t sin2 cos
3
p 3
cos2 +A2 t2 sin2
= 4 A3 t sin3
5:
p 3
cos2 +A2 t2 sin2

Ex. 294: Clearly, the above expressions do not show the tensor property
with respect to changes in surface coordinates.

Ex. 295: First, note our parametrization:

At cos
Zi ( ) =
sin

Then, compute the shift tensors:

@Z i
Zi =
@S
At sin
= ;
cos

so
1
Zi = At sin cos ;

since we need
Zi Z i = :

Thus,

V = V i Zi
1 A cos
= At sin cos
0
1
= t sin :
 93

Ex. 296: Recall 2 3

p A cos
2 t2 sin2
Zi ( ) = 4 cos2 A+A
sin
5;
p
cos2 +A2 t2 sin2

and note that

@ p 2 cos sin + 2A2 t2 sin cos
cos2 + A2 t2 sin2 = p
@ 2 cos2 + A2 t2 sin2
A2 t2 sin cos cos sin
= p
cos + A t sin2
2 2 2

so
@Z i
Zi =
@S
2p 3
A2p
t2 sin cos
1 cos2 + A2 t2 sin2 ( A sin ) A cos cos sin
4p cos2 +A2 t2 sin2 5;
= A2p
t2 sin cos
cos2 + A2 t2 sin2 cos2 + A2 t2 sin2 (A cos ) A sin cos sin
cos2 +A2 t2 sin2

The result is V = 0, since the motion of a particle on the surface with

constant is normal to tangent space; hence the projection V = V i Zi = 0.

Ex. 297: We see that V is not a tensor with respect to changes in ambient
coordinates.

Ex. 298: We have

V = V i Zi ;

so
V Zj = V j ;

conrming that V i is a tensor (V is an invariant and Zj is a tensor).

Ex. 299: Both V i and Zi are tensors with regard to ambient coordinate
changes; hence the contraction V = V i Zi is a tensor with regard to ambient
coordinate changes.

Ex. 300: This was done before.

Ex. 301: Both parametrizations use Cartesian ambient coordinates. Thus,

0
the Jacobians Jii are the identity. We compute
0 0
V i Jii + Z i Jii Jt = V i + Z i Jt
A cot 1
A cos Atsin
= + 2 2 :
0 A t + cot2 cos
94

[To be continued]

Ex. 302: Write

0 0 0
V = V i Zi0
0 0 0
= V i Jii + Z i Jii Jt Zj Jij0 J
0 0 0 0
= V i Jii Zj Jij0 J + Z i Jii Jt Zj Jij0 J
0 j 0 j
= V i Zj J i + Z i Jt Zj J i
0 0
= V j Zj J + Z j Jt Zj J
0 0
= V J + Jt J
0 0
= V J + J Jt ;

as desired.

Ex. 303: Let the unprimed coordinates denote the rst parametrization.
Then, note
0 d
J = (arccot (At cot ))
d
1
= At csc2
1 + A2 t2 cot2
At csc2
=
1 + A2 t2 cot2

0 0 1 At csc2 A cot At csc2

V J + J Jt = sin +
t 1 + A2 t2 cot2 A2 t2 + cot2 1 + A2 t2 cot2
=

[perhaps I am using the wrong Jacobians]

Ex. 304: We have

t cos
Zi = ;
sin

so
d d
S = (t cos ) i + (sin ) j;
d d

since our ambient space is in Cartesian coordinates. So,

S = t sin i + cos j;
 95

and choose the outward normal

N = cos i + t sin j;

and thus
cos
Ni = ;
t sin

and
Ni = cos t sin ;

since our ambient space is in Cartesian coordinates. Thus,

C = V i Ni
cos
= cos t sin
0
= cos2 :

Ex. 305: As before, compute

! !
d cos d sin
S = p i+ p j
d cos2 + t2 sin2 d cos2 + t2 sin2
!
1 p t2 sin cos cos sin p
2
= cos2 + t2 sin ( sin ) cos p i+ cos2 + t2 sin2 (cos
cos2 + t2 sin2 cos + t sin2
2 2
! !
sin t2 sin cos2 cos2 sin cos t2 sin2 cos cos sin2
= p p 3 i+ p p 3
cos2 + t2 sin2 cos2 + t2 sin2 cos2 + t2 sin2 cos2 + t2 sin2

so
h i
cos cos sin2 +t2 cos sin2 sin cos2 sin +t2 cos2 sin
Ni = pcos2 +t2 sin2 3 p
cos2 +t2 sin2
+ 3 ;
(cos2 +t2 sin2 )2 (cos2 +t2 sin2 )2

and

C = V i Ni
2 t sin2 cos
3
h 2 2 2 2 2 2 i p 3
p cos cos sin +t cos sin p sin
+ cos sin +t cos sin 4 cos2 +A2 t2 sin2 5
= cos2 +t2 sin2
3
cos2 +t2 sin2
3
t sin3
(cos2 +t2 sin2 ) 2 (cos2 +t2 sin2 ) 2 p 3
cos2 +A2 t2 sin2
=
96

[Note: Shouldnt both be 1 by geometric considerations?]

Ex. 306: We have

0 0 0
V = V J + J Jt
@T (t; S 0 ) @T (t; S)
= + Jt r t;
@t @t

so compute

_ (t; S 0 ) @T (t; S 0 ) 0
rT = V (t; S 0 ) r 0 T
@t
@T (t; S) 0 0
= + Jt r t V r T J ;
@t

since r 0 T has the tensor property. But,

0 0 0
V =V J + J Jt ;

so

_ (t; S 0 ) @T (t; S) 0 0
rT = + Jt r t V J + J Jt r T Ja0
@t
@T (t; S)
= + Jt r t V + Jt r T
@t
@T (t; S)
= + Jt r t V r T Jt r T
@t
@T (t; S)
= V r T
@t
@T (t; S)
= V r T;
@t

_ does not depend on changes in suface coordinates.

so rT

Ex. 307: This follows from the sum rule for partial derivatives and the
covariant derivative

Ex. 308: This follows from the product rule for partial derivatives and the
covariant derivative.

Ex. 309: Same as above

Ex. 310: This follows because the numerator of 15.33 would be zero.

Ex. 311: This follows from the denition of C, since we take our R (St + h)
in the normal direction.
 97

Ex. 312: We have

S = Z i Zi :

Ex. 313: Begin with

_ = Vi
rR V Z i Zi

and
V = V j Zj ;

so
_
rR = Vi V j Zj Z i Zi
i
= Vi Vj j N i Nj Zi
= Vi V i + V j N i Nj Zi
= V j N i Nj Zi ;

as desired.

Ex. 314: Compute

Z Z
d d
NB dS = r S dS
dt S dt
Z S Z
= r_ (r S ) dS CB r S dS
S S
Z Z
@ (r S )
= V r r S dS CB r S dS
@t
ZS S
Z
@ (r S )
= V i Zi r r S dS CB r S dS
S @t S

[ask about integral problems]

Ex. 315: By the above, Z

NB dS
S

is constant. Since our surface is of genus zero, we may smoothly append our
surface evolution so that for all t T for some T , S is a sphere of constant
98

radius 1. Since the above quantity is constant for all t, then it must be equal
to Z
2 NdS
S

for all t, since for a sphere,

2
B = :
R
R R
But, S
NdS = 0 (our surface is closed), so we have that S
NB dS vanishes.

Ex. 316: Need to show:

Z Z Z
d @F
Fd = d + CF dS;
dt @t S

i.e. Z Z Z
A2 b(t;x)
d
F (x; y) dydx = CF dS;
dt A1 0 S

since @F
@t = 0.
Clearly, C is zero on all of S except for the portion given by the graph of b. Let
B denote the surface given by this graph. Then,:
Z Z
CF dS = CF dB
S B

Clearly, S is the vector (given relative to the ambient Cartesian basis)

S = i + bx j,

so
1
N= p ( bx i + j) ;
1 + b2x

and
0
Vi = ;
bt

so

C = V i Ni
bt
= p :
1 + b2x
 99

p
Now, at each t, our surface has line element 1 + b2x , so
Z Z A2
CF dB = bt F (x; b (t; x)) dx
B A1
Z A2 Z b(t;x)
d
= F (x; y) dydx;
A1 dt 0

by FTC,
Z A2 Z b(t;x)
d
= F (x; y) dydx
dt A1 0

Ex. 317: We have

0
0 @T i (t; S 0 )
Ui =
@t
@ 0
= T i (t; S) Jii (Z (t; S))
@t
@ i 0 @ 0
= T (t; S (t; S 0 )) Jii + T i Jii (Z (t; S))
@t @t
0
@T i @T i @ 0 @J i @
= + S Jii + T i ij Z (t; S)
@t @S @t @Z @t
@T i @T i @S 0
i0 @Z j @Z j @S
= + Jii + T i Jji +
@t @S @t @t @S @t
i
@T 0 0
= Ui + J Jii + T i Jji i
V j + Z j Jt
@S t
0 @T i 0
i0 j i0 j
= U i Jii + J J i + T i Jji V + T i Jji Z Jt ;
@S t i

which is the desired result.

Ex. 318: This follows similarly to the above.

Ex. 319: Write

0
0 @T (t; S 0 )
U =
@t
@ 0
= T (t; S) J (t; S)
@t
@ 0 @ 0
= T (t; S) J + T J (t; S)
@t @t !
0 0
@T @T @S 0 @J @J @S
= + J +T +
@t @S @t @t @S @t
0 @T 0 0 0
= U J + J J +T J +T J Jt :
@S t t
100

Ex. 320: The covariant case is analogous to the above.

Ex. 321: Note

0 0
V r Ti = V r T i Jii
@T i 0
= V (t; S) + ijk T j Z j Jii
@S
0 @T i 0
= V j Zj 0 (t; S) + ijk T k Z j Jii
@S
0 0 @T i 0
= V j Jjj + Z j Jjj Jt (t; S) + ijk T k Z j Jii
@S
i
0 @T 0 0 @T i 0 0
= V j Jjj + V j Jjj ijk T k Z j + Z j Jjj Jt + Z j Jjj Jt ijk T k Z j Jii
@S @S
i
0 @T 0 0 0 0 @T i i0 0 0
= V j Jjj Jii + V j Jjj ijk T k Z j Jii + Z j Jjj Jt Ji + Z j Jjj Jt ijk T k Z j Jii ;
@S @S

so given our work above,

0
@T i 0 @T i i0 @T i 0
i0 j i0 j
V r Ti = Ji + Jt Jii + T i Jji V + T i Jji Z Jt
@t @t @S
i
0 @T 0 0 0 0 @T i i0 0
k j i0
V j Jjj Jii + V j Jjj ijk T k Z j Jii + Z j Jjj Jt Ji + Z j Jjj Jt i
jk T Z Ji
@S @S

[not nished]
Chapter 13

Chapter 16

Ex. 325: Assume the sum, product rules hold, in addition to commutativity
with contraction and the metrinilic property with respect to the ambient basis.
Then, compute
_
rT _ T i Zi
= r
_ i Zi + T i rZ
= rT _ i;

by commutativity with contraction and the product rule,

= T i Zi ;

since the second term would be zero by the metrinilic property.

Ex. 326: Compute

@Zi @Zi (Z (t))
=
@t @t
@Zi @Z j
=
@Z j @t
k j
= ij Zk V

= Vj k
ij Zk ;

as desired.

Ex. 327: Write

T = Ti Zi ;

so
i
rT _ = @Ti Zi + Ti @Z
_ i Zi = rT V r Ti Zi ;
@t @t

101
102 CHAPTER 13. CHAPTER 16

but

@Zi @Zi @Z j
=
@t @Z j @t
i k j
= jk Z V
i j k
= jk V Z ;

so we have
_ i = @Ti
rT V r Ti Vj k
ij Tk ;
@t

after index renaming in the second term of the above expression.

Ex. 328: We know rT _ _ =rT

is invariant, and since rT _ i Zi and Zi is a
_ i
tensor, by the quotient law, rT must be a tensor. An argument using changes
in coordinates would follow similarly to the covariant derivative computations.

_ =rT
Ex. 329: This also follows from the fact that rT _ i Zi and by the
quotient law. An argument using changes in coordinates would also follow
similarly.

Ex. 330: Put

Sj = Tji Zi :

then, clearly,
_ j = rT
rS _ i Zi :
j

Dot both sides with Zk :

_ j Zk
rS _ ji Zi Zk
= rT
_ j Zk
rS _ jk :
= rT

Since the LHS is clearly a tensor, the RHS is as well.

Ex. 331: We may use induction with a process similar to 330 to extend this
result to arbitrary indices.

Ex. 332: Assume S i ; Tij are arbitrary tensors. Put

U j = S i Tij :
 103

Now, compute

@ S i Tij
_ SiT j
r = V r S i Tij + V n j i j
i nk S Ti
@t
@U j j i j
= V r Uj + V n nk S Ti ;
@t

since both the partial derivatives and the covariant surface derivatives commute
with contraction.

Ex. 333: This follows from the sum and product rules for the partial
derivatives and the covariant surface derivative.

Ex. 334: Note

r Tji = Z k rk Tji ;

and compute

@Tji (t; Z (t; S))

_ i (t; S)
rT = V r Tji (t; Z (t; S)) + V k ikm Tjm (t; Z (t; S)) Vk m i
j kj Tm (t; Z (t; S))
@t
@Tji @Tji @Z k
= + V Z k rk Tji + V k ikm Tjm V k m kj Tm
i
@t @Z k @t
@Tji @Tji k
= + V V Z k rk Tji + V k ikm Tjm V k m i
kj Tm
@t @Z k !
@Tji @Tji i m m i k
= + + km Tj kj Tm V V Z k rk Tji
@t @Z k
@Tji
= + rk Tji V k V Z k rk Tji
@t
@Tji
= + V k V Z k rk Tji
@t
@Tji
= + CN k rk Tji ;
@t

where the last step follows from the observation that V k V Z k is the normal
component.

Ex. 335: Note that @Z @t = 0; and the second term of the above is also zero
i

_ i = 0: the other
by the metrinilic property for covariant derivatives. Hence, rZ
results follow similarly.
104 CHAPTER 13. CHAPTER 16

Ex. 336: Compute

@S (Z (t; S)) @S @Z i
=
@t @Z i @t
@S i
= V
@Z i
@S @S
= Vi
@S @Z i
@2R
= Z Vi
@S @S i
@S
= Z Vi
@S i
= [not sure]

Ex. 337: Simply decompose V into its tangential and normal coordinates,
to obtain the substitution used for the RHS.

Ex. 338: Compute

r (V S + CN) = r V S + V r S + r CN+Cr N
= r V S + V NB + Nr C + C B S
= r V S + V NB + Nr C CB S :

Ex. 339: Use

_ @T @S
rT = S +T V r T S V T NB
@t @t
@T
= S +T r V S + V NB + Nr C CB S V r T S V T NB
@t
@T
= S + r V T S + V T NB + T Nr C CB T S V r T S V T NB
@t
@T
= S + T r V S + T r CN T CB S V r T S
@t
@T
= S + T r V S + T r CN T CB S V r T S :
@t

Ex. 340: Simply decompose T with respect to the contravariant basis S ,

and use the similar decomposition

V = V S + CN:
 105

Ex. 341: Note

0 _
= rS
@S
= V ! r! S (r V ! CB ! ) S! r V! CB ! S !
@t
@S
= r V ! S! + CB ! S! r V !S ! + CB ! S !
@t
@S
= r V r V + CB + CB
@t
@S
= r V r V + 2CB ;
@t

so
@S
=r V +r V 2CB :
@t

The contravariant case follows similarly.

Ex. 342: First, examine

@S
= SS ;
@S

using the properties of the cofactor matrix. Then, compute

@S @S @S
=
@t @S @t
= SS (r V + r V 2CB )
= S r V +r V 2CB
= 2S (r V CB ) :

Then,
p
@ S 1 @S
= p
@t 2 S @t
p
= S (r V CB ) ;
106 CHAPTER 13. CHAPTER 16

and
p 1
p
@ S 1 @ S
= p 2 @t
@t
S
1 p
= S (r V CB )
S
1
= p (r V CB ) :
S

Ex. 343: Note p

" = Se ;

so
p
@" @ S p @e
= e + S
@t @t
p @t
@ S
= e ;
@t

since e does not depend on t.

p
= S r V CB e
= " r V CB :

Ex. 344: Note

p 1
" = S e ;

so
p 1
@" @ S p @e
= e + S
@t @t @t
p 1
@ S
= e
@t
1
= p r V CB e
S
= " r V CB :
 107

Ex. 345: Simply write

_
r" _ " S S
= r
_
= r" S S ;

by the metrinilic property,

= 0;

by the above.

Ex. 346: Use GaussTheorema Egregium:

K = jB j
1
= " " B B ;
2

so
_
2rK _
= r" " _
B B + " r" B B +" " _
rB B +" " _
B rB
= " " _
rB B +" " _
B rB ;

since the rst two terms vanish,

= " " r r C + CB B B +" " B r r C + CB B

= " " B r r C + C" " B B B +" " B r r C + C" " B B B
= B r r C +B r r C +B B B C +B B B C

= B r r C +B r r C +B B B C +B B B C
= B r r C+ B r r C+ B B B C+ B B B C
B r r C+ B r r C+ B B B C+ B B B C
= B r r C +B r r C +B B B C +B B B C
B r r C +B r r C +B B B C +B B B C
= 2B r r C 2B r r C + 2B B B C 2B B B C
= 2 B r r C B r r C+ B B B B B B C

= 2 B r r C B r r C + B KC ;
108 CHAPTER 13. CHAPTER 16

which gives us the desired result [Note: I believe the last equality follows from
GaussTheorema Egregium].
Chapter 14

Chapter 17

Ex. 347: Note that u is an invariant with respect to ambient indices, and thus
@u
ri u = @Z i. Write

@ @ @u
ri u =
@t @t @Z i
@ @u
=
@Z i @t
@
= ri u;
@t

@u
under smoothness assumptions (hence the partials commute), and since @t is
an invariant.

Ex. 348: First, compute, given polar coordinates

@u
ri u = i
@Z
2 3
@ J ( r)
p0
= 4 @r J1 ( ) 5
@ J ( r)
p0
@ J1 ( )
" #
J1 ( r)
p
= J1 ( )
0

Now, since for polar coordinates,

1 0
Z ij = ;
0 r 2

109
110 CHAPTER 14. CHAPTER 17

so

ri u = Z ij rj u
" #
J ( r)
1 0 p 1
= J1 ( )
0 r 2 0
" #
J1 ( r)
p
= J1 ( ) :
0

thus,
2 2
J1 ( r)
ri uri u = 2 :
J1 ( )

Now, at t = 0, our surface yields r = 1, so

2
ri uri u =

Next, compute C for our surface evolution. Consider, in Cartesian coordinates,

@x
Vi = @t
@y
@t
a cos
=
b sin

With respect to the Cartesian basis,

S = (1 + at) sin i + (1 + bt) cos j

1 (1 + bt) cos
Ni = q ;
2 2 2 (1 + at) sin
(1 + at) cos2 + (1 + bt) sin

at t = 0,
cos
Ni =
sin

C = V i Ni
= a cos2 + b sin2 ;
 111

thus, by the Hadamard formula,

Z 2 2
1 = a cos2 + b sin2 d
0
2 Z 2
= a cos2 + b sin2 d
0
2 Z 2
= a cos2 +b 1 cos2 d
0
2 Z 2
= a cos2 + b cos2 d 2b 2
0
2 Z 2
= (a + b) cos2 d 2b 2
0
2 2
1 2
= (a + b) + sin 2 2b
2 4 0
2
2
= (a + b) 2b
2 2
= (a + b) 2b
2
= (a + b) :

2
Since = , we have the desired result.

Ex. 349: [Not sure]

Ex. 350: Want to show:

Z
1 = u 1 N i ri u Ni ri u1 dS:
S

Dirichlet: Z
1 = Cri uri udS
S

Neumann:

1 =

Ex. 354: We have

_ + 2V r C + B
rC V V = B
_
rV +V r V Cr C CV B = 0:
112 CHAPTER 14. CHAPTER 17

Write

V = V i Zi

and

C = V i Ni ;

Begin with the second, and contract with S :

_
rV S +V r V S Cr CS CV B S = 0
_ (V S )
r _
V rS + V r (V S ) V V r S Cr CS CV B S = 0
_ (V S )
r V Nr C + V r (V S ) V V B N Cr CS CV B S = 0:

Then, manipulate the rst:

_ + 2V r C + B
rC V V = B ;

and multiply by N:

_
rCN + 2V r CN + B V V N = B N

_ (CN)
r _ + 2V r CN + B
C rN V V N = B N

_ (CN)
r C ( S r C) + 2V r CN + B V V N = B N

_ (CN) + CS r C + 2V r CN + B
r V V N = B N

_ (CN) + 2V r CN + V V B
r N+Cr CS = B N:
 113

Now, add the results of both manipulations to each other:

_ (V S ) + r
r _ (CN) + V r CN + V r (V S ) CV B S = B N

_ + V r CN + V r (V S )
rV CV B S = B N

_ + V r (CN)
rV V Cr N + V r (V S ) CV B S = B N

_
rV+V r V V Cr N CV B S = B N

_
rV+V r V V Cr N i Zi CV B S = B N

_
rV+V r V V Cr N i Zi CV B S = B N [note the metrinilic property]

_
rV+V r V + V CZ i B Zi CV B S = B N

_
rV+V r V + V CB Z i Zi CV B S = B N

_
rV+V r V + CV B S CV B S = B N

_
rV+V r V = B N