Scribd Logo
Upload

Welcome to Scribd!

  • Kobayashi Nomizu II Ver.b

    Uploaded by

    lucacolla
    30 views242 pages

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    30 views242 pages

    Kobayashi Nomizu II Ver.b

    Uploaded by

    lucacolla

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    of 242
    Obs) Kies 14) FOUNDATIONS OF DIFFERENTIAL GEOMETRY VOLUME I SHOSHICHI KOBAYASHI University of California, Berkeley, California and KATSUMI NOMIZU Brown University, Providence, Rhode Island 4700030260873 AP!NOMAO LEIA INTERSCIENCE PUBLISHERS PREFACE This is a continuation of Volume I of the Foundations of Differential Geometry. The chapter numbers are continued from Volume I and the same notations are preserved as much as possible. The main text, Chapters VII-XII, deals with the topics that have been promised in the Preface of Volume I. The Notes include material supplementary to Volume I as well. The Bibliography duplicates, for the sake of convenience of readers, all the references in the Bibliography of Volume I in the same numbering and continues to references for Volume TI. The content of each chapter is now briefly described. Chapter VII gives the fundamental results and some classical theorems concerning geometry of an n-dimensional submanifold M immersed in an (x + p)-dimensional Riemannian manifold N, in particular, R**?. In §1, the natural connections in the orthogonal bundle and the normal bundle over M are derived from the Riemannian connection in the orthogonal bundle over N. In §2, where N = R"*, we show that these connections are induced from the canonical connections in the Stiefel manifolds Vin, p) and V(p,n), both over the Grassmann manifold G(n, p), respectively, by means of the bundle maps associated to the generalized Gauss map of M into G(n, p). In §§3 and 4, we use _ the formalism of covariant differentiation Vx¥ to study the relationship between the invariants of M and N and obtain the classical formulas of Weingarten, Gauss and Codazzi. We prove a result of Chern-Kuiper which generalizes the theorem of ‘Tompkins. §§5, 6, and 7 are concerned with the classical notions and theorems on hypersurfaces in a Euclidean space, including a result of Thomas-Cartan-Fialkow on Einstein hypersurfaces and results on the type number and the so-called fundamental theorem. In the last §8, we discuss auto-parallel submanifolds and totally geodesic submanifolds of a manifold with an affine connection and prove, in particular, that these two notions coin- cide in the case where the connection in the ambient space has no torsion. The content of Chapter VIT is supplemented by Notes 14,15, 16, 17, 18, 21, and 27. Chapter VIII is devoted to the study of variational problems vi PREFACE fon geodesics. In §1, we define Jacobi fields and conjugate points for a manifold with an affine connection and discuss their geo- metric meaning. In §2 and 3, we make a further study of these notions in a Riemannian manifold and prove the classical result, fon the distance between consecutive conjugate points on a geodesic when the sectional curvature (or, more generally, each of the eigenvalues of the Ricci tensor) is greater than a certain positive number everywhere. In §4, we prove Rauch’s comparison theorem. In §5, we study the first and second variations of the length integral, considered as a function on the space of all piece- wise differentiable curves, and obtain, among others, a proof of ‘Myers’s Theorem. The Index Theorem of Morse is proved in §6. In §7, we prove basic properties of cut loci. Although the results of §7 are not used elsewhere in this book, they are basic in the study of manifolds with positive curvature. In §8, we prove a theorem of Hadamard and Cartan which says that for a complete Riemannian space with non-positive curvature the exponential map is a covering map. Applications are made to a homogeneous Riemannian manifold with non-positive sectional curvature and negative definite Ricci tensor. In §9, we prove a theorem to the effect, that on a simply connected complete Riemannian manifold with non-positive sectional curvature every compact group of isometries has a fixed point. Applications are given to the case of a homogeneous Riemannian space. Results of §§8 and 9 are used in §11 of Chapter XI. Note 22 supplements the content of this chapter. In Chapter IX, we provide differential geometric foundations for almost complex manifolds and Hermitian metrics, in particular, complex manifolds and Kaehler metrics. The results in this chapter are essentially of local character. After purely algebraic preliminaries in §1, we discuss in §2 the notion of an almost complex structure, its torsion and integrability as well as complex tangent spaces, operators @ and 4 for complex differential forms ‘onan almost’ complex manifold. Many examples are given, including complex Lie groups, complex parallelizable spaces, complex Grassmann manifolds, Hopf manifolds and their gen- eralizations, and a result of Kirchhoff on almost complex structures on spheres. In §3, we discuss connections in the bundle of complex linear frames of an almost complex manifold and relate their PREFACE, vil torsions with the torsion of the almost complex structure. In$4, Hermitian metrics and the bundle of unitary frames are discussed. ‘The most interesting case is that of a Kachler metric, whose basic properties are proved here. In §5, we build a bridge between intrinsic notations and complex tensor notations for Kachlerian geometry, In §6, many examples of Kachler manifolds are dis- cussed, including the Fubini-Study metric in the complex projective space and the Bergman metric in the open unit ball in C*, In §7, we give basic local properties of holomorphic sectional curvature and prove that a simply connected and complete Kaehler manifold of constant holomorphic sectional curvature ¢ is a complex projective space, a complex Euclidean space or an open unit ball in a complex Euclidean space according ase > 0, = or < 0..n §8, we discuss the de Rham decomposition of a Kachler manifold and the notion of non-degeneracy. §9 is concerned with holomorphic sectional curvature and the Ricci tensor of a complex submanifold of a Kaehler manifold. In the last §10, we study the existence and properties of Hermitian connection in a Hermitian vector bundle following Chern, Nakano, and Singer. This chapter is supplemented by §6 of Chapter X, §10 of Chapter XI (where examples are discussed from the viewpoint of symmetric spaces), and Notes 13, 18, 23, 24, and 26. In Chapter X, we discuss the existence and properties of invariant affine connections and invariant almost complex structures on homogeneous spaces (especially, reductive homo- geneous spaces). In §1, the results of Wang in §11 of Chapter II are specialized to the situation where P is a K-invariant G-structure on a homogeneous space M = K/H, and K-invariant connections in P are studied, In §2, we specialize further to the case where K/H is reductive and obtain the canonical connection and the natural torsion-free connection of Nomizu. In §3, we study homogeneous spaces with invariant (possibly indefinite) Ri mannian metrics. As an example we provide a differential geometric proof of Weyl’s theorem that a Lie group G is compact if the Killing-Cartan form of its Lie algebra is negative-definite. In §§4 and 5, results of Nomizu and Kostant on the holonomy group and reducibility of an invariant affine connection are proved. In §6, following Koszul we give algebraic formulations PREFACE for an invariant almost complex structure on a homogeneous space and for its integrability. This chapter-serves as a basis for Chapter XI and is supplemented by Notes 24 and 25. In Chapter XI, we present the basic results in the theory of affine, Riemannian, and Hermitian symmetric spaces. We lay ‘emphasis on the affine case a little more than the standard treat- ment of the subject. In §1, we consider affine symmetric spaces, thus giving a geometric motivation to the group-theoretic notion of symmetric space which is introduced in §2, In §3, we reverse the process in §1; thus we begin with a symmetric space G/H and introduce the canonical affine connection on G/H, making GJH an affine symmetric space. The curvature of the canonical connection is given an algebraic expression. In §4, we study totally geodesic submanifolds of a symmetric space G/H (with canonical connection) from both geometric and algebraic view- points, The symmetric Lie algebra introduced in §3 is to a symmetric space what the Lie algebra is to a Lie group. In §5, two results on Lie algebras, namely, Levi's theorem and the decomposition of a semi-simple Lie algebra into a direct sum of simple ideals, are extended to the case of symmetric Lie algebras, The global versions of these results are also given. In §6, we consider Riemannian symmetric spaces and the corresponding symmetric spaces. The symmetric Lie algebra ‘corresponding to a Riemannian symmetric space is called an orthogonal symmetric Lie algebra. In §7, where orthogonal symmetric Lie algebras are studied, the decomposition theorems proved in §5 are made mote precise. In §8, the duality between the orthogonal sym- metric Lie algebras of compact type and those of non-compact type are studied together with geometric interpretations. In §9, wwe discuss geometric properties and an algebraic characterization of Hermitian symmetric spaces. Many examples of classical spaces are studied in §10 from viewpoints of symmetric spaces, including real space forms originally defined in Chapter V and complex space forms discussed in Chapter IX. In the last §11, we show, assuming Weyl’s existence theorem of a compact real form of a complex simple Lie algebra, that the classification of irreducible orthogonal symmetric Lie algebras is equivalent to the classifi- cation of real simple Lie algebras. In Chapter XII, we present differential geometric aspects of PREFACE ix characteristic classes. If G is the structure group of a principal bundle P over M, then using the curvature of a connection in P we can associate to each Ad(G)-invariant homogeneous poly- nomial f of degree k on the Lie algebra of G a closed 2k-form on the base space M in a natural manner. The cohomology class represented by this closed 2k-form is independent of the choice of connection and is called the characteristic class determined by f. In §1, following Chern we prove this basic result of Weil. In §2, we study the algebra of Ad(G)-invariant polynomials on the Lie algebra of G and determine the algebra explicitly when Gis a classical group. In §3, adopting the axiomatic definition of Chern classes by Hirzebruch, we express the Chern classes of a complex vector bundle in terms of the curvature form of a connection in the bundle. The formula for the Chern character in terms of the curvature form is also given. In §4, using Hirze- bruch’s definition of the Pontrjagin classes of a real vector bundle, we derive differential geometric formulas for the Pontrjagin classes. In §5, we characterize the real Euler class of a vector bundle in a simple axiomatic manner and derive the general Gauss-Bonnet formula, This chapter, particularly §5, is supplemented by Notes 20 and 21. We wish to note specifically that we do not go into the following subjects: the theory of (2-dimensional) minimal surfaces; the theory of global convex surfaces developed by A. D. Aleksandrov and his school; Finsler geometry and its generalizations; the general theory of conformal and projective connections; a deeper study of differential systems. On the subjects of complex manifolds, homogeneous spaces (especially symmetric homogeneous spaccs), vector bundles, G-structures and so on, our treatment is limited to the foundational material in differential geometric aspects that does not require deeper knowledge from algebra, analysis or topology. Neither do we treat the harmonic theory nor a gener- alized Morse theory, although these theories have many important applications to Riemannian geometry. The Bibliography of Volume IT contains some basic references in these areas. In particular, for the global theory of compact Kaehler manifolds Which requires the theory of harmonic integrals, the reader is advised to read Weil's book: Introduction @ Etude des Varietés Kahlériennes. x PREFACE During. the preparations of this volume, we have been most encouraged by the reactions to Volume I of many readers who wanted to find self-contained and complete proofs of the standard results in the field, We sincerely hope that the present volume will continue to meet the needs of these readers. We should also like to acknowledge the grants of the National Science Foundation which supported part of the work included in this book. Suosmicur Komavasit September, 1968 Karsumt Nomi CONTENTS OF VOLUME IL Cuarrer VIL Submanifolds Frame bundles ofasubmanifold. =... The Gauss map... : Covariant differentiation and second fundamental form Equations of Gauss and Codazzi. . se Hypersurfaces ina Euclidean space. 0. ‘Type number and rigidity : Fundamental theorem for hypersurfaces. | Aworparaile braids and stall gendee submani- folds. soe Cxaprer VITT Variations of the Length Integral Jacobi fields ‘Jacobi fields in a Riemannian manifold. Conjugate points Comparison theorem The frst and second variations of the length integral. Index theorem of Morse para Cut loci. ae Center of gravity and fixed points of isometries | Cuarrer IX Complex Manifolds Algebraic preliminaries, ‘Almost complex manifolds and complex manifolds Connections in almost complex manifolds. Hermitian metrics and Kaehler metrics... Kaehler metrics in local coordinate systems Examples of Kaehler manifolds : Holomorphic sectional curvature - . De Rham decomposition of Kachler manifolds |, 10 22 29 2 47 33 63 7 76 79 102 108 14 121 41 146 155 159 165 im LX 2 3. 4 5. CONTENTS OF VOLUME It Curvature of Kaehler submanifolds. Hermitian connections in Hermitian vector bundles. (Cuaprer X Homogeneous Spaces Invariant affine connections . Tnvariant connections on reductive homogeneous spaces Invariant indefinite Riemannian metrics =. Holonomy groups of invariant connections ‘The de Rham decomposition and irreducibility Invariant almost complex structures... Cuarrer XT Symmetric Spaces ‘Affine locally symmeti spaces ae Symmetric spaces. ‘The canonical connection on a symmetric space. Totally geodesic submanifolds. : Structure of symmetric Lie algebras... Riemannian symmetric spaces : Structure of orthogonal symmetric Lie siete Duality : : Hermitian symmetric spaces... Examples. ‘An outline ofthe clasification theory Cuapren XIT Characteristic Classes Weil homomorphism . 5 ee Invariant polynomials . eae Chern clases. Sees Pontrjagin classes. toe Eulerclases ee Appenpices Integrable real analytic almost complex structures. ‘Some definitions and facts on Lie algebras 175 178 186 190 200 204 210 216 222 225 230 234 238 243 246 253 259 264 289 293 298 305, 312 3i¢ 32 325 2! 13. 1. 15. 16. 7. 18, 19. 20. CONTENTS OF VOLUME 11 Nores Connections and holonomy groups (Supplement to Note 1) ‘The automorphism group of a geometric structure (Supple- ment to Note 9) aie erect ‘The Laplacian Foe Surfaces of constant curvature in RE}, Index of nullity. soe ‘Type mumber and rigidity of imbedding Isometric imbeddings : Equivalence problems for Riemannian manifolds. Gauss-Bonnet theorem. Total curvature . aaa Topology of Riemannian manifolds with positive curvature Topology of Kachler manifolds with positive curvature Structure theorems on homogeneous complex manifolds . Invariant connections on homogeneous spaces Complex submanifolds Minimal submanifolds foe Contact structure and related structures 0. Bibliography Summary of Basic Notations. 5. Index for VolumestandIE Errata for Foundations of Differential Geometry, Volume 1 331 392 337 343 347 349 354 357 358 361 368 373 375 378 379 381 387 455 459 469 CONTENTS OF VOLUME 1 CHAPTER VIL DirrerenTiabe MaNirous Submanifolds ‘Tueory oF Connections Linear AND AFFINE CONNECTIONS 1, Frame bundles of a submanifold Let ey, «++ eas» be the natural basis for R"*?. We shall denote RIEMANNIAN CONNECTIONS GuRvATURE AND Space FoRus by Re and R the subspaces of R'+? spanned by é, ..., ¢ and fasts «+> Enyp Tespectively. Similarly, we identify O(n) (resp. ‘TRANSFORMATIONS : O(p)) with the subgroup of O(n + p) consisting of all elements f which induce the identity transformation on the subspace R? (resp. R°) of R°+?. In other words, ( O(n) 0 0 ) 0 ow) | where /, and J, denote the identity matrices of order m and , respectively. Let o(n + p), 0(n) and 0(p) be the Lie algebras of O(n +p), O(n) and O(p), respectively, and let g(x, p) be the orthogonal complement to o(n) + 0(p) in o(n +p) with respect to the Killing-Cartan form of o(n + p) (cf Volume I, p. 155 and also Appendix 9). Then q(x, p) consists of matrices of the form (24 4) where 4 is a matrix with n rows and p columns and ‘A denotes the transpose of A. Let be a Riemannian manifold of dimension n + p and let f be an immersion of an n-dimensional differentiable manifold M into N. We denote by g the metric of IV as well as the metric induced on M (cf. Example 1.2 of Chapter IV). For any point x of M we shall denote f(x) € N by the same letter x if there is no danger of confusion. Thus the tangent space T.(M) is a subspace 1 O(n) ~ ) and O(p) ~( 2 FOUNDATIONS OF DIFFERENTIAL GEOMETRY of the tangent space 7,(N). Let T,(M)+ be the orthogonal complement of 7,(M) in T,(/N); it is called the normal space to M atx. Let 0(.M) and O() be the bundles of orthonormal frames over M and N, respectively. Then O(N) | M = {9 € O(N); m(a) € Mf}, where : O(V) + N is the projection, is a principal fibre bundle over M with structure group O(n + p). A frame v € O(N) | Mat € Missaid to be adapted if vis of the form (Yay. » Vou Yayy-+ +5 Yuss) with Y,,..., Yq tangent to M (and hence ¥uyy, +3 Yar normal to M). Thus, considered as a linear isomorphism R"*? "+ T,(N), 2 is adapted if and only if » maps the subspace R" onto T_(M) (and hence the subspace R? onto T,(M)+). It is easy to verify that the set of adapted frames forms a principal fibre bundle over M with group O(n) x O(p); it is a subbundle of O(N) | M in a natural manner. We shall denote the bundle of adapted frames by O(N, M). We define a homomorphism A’: O(N, Mf) — 0(M) corresponding to the natural homomorphism O(n) x 0(p) > O(n) as follows: HQ) =(Yyeeey Ya) ford = (Ys, 00., Yoys) € O(N, M). If we consider v as a linear transformation R'+? -> T,(N), then W'(0) is the restriction of v to the subspace R*. Hence, O(M) is naturally isomorphic to O(N, M)/O(p). Similarly, denoting by (0) the restriction of » ¢ O(N, Mf) to the subspace R? of R™7, we obtain a homomorphism fi": O(N, M) -+ O(N, M)/O(n) cor- responding to the natural homomorphism O(n) x’ O() -» O(p). By a normal frame at x¢M, we mean an orthonormal basis (Zy +++, Z,) for the normal space 7,(M)*. If (Yi, .--, Yay Yysiy +++) Yagg) i8 an adapted frame at x, then (Yy.y ++» Yay.) is'a normal frame at x. Since every normal frame is thus obtained and since two adapted frames give rise to the same normal frame if and only if they are congruent modulo O(n), the bundle O(N, M)/O(n) can be considered as the bundle of normal frames over M. Then A": O(N, M) + O(N, M)/O(n) maps an adapted frame » = (Ya, «-., Yass) upon the normal frame (Fay, «+5 Yuss). We denote by T(M)+ the set Ure Te(M)+. It is then a vector bundle over M associated to the bundle of normal frames O(N, M)/O(n) by letting the structure group 0(p) act naturally on the standard fibre R? (cf. §1 of Chapter III). We shall call VI, SUBMANIFOLDS 3 this vector bundle the normal bundle of M (for the given immersion Ff into N). The following diagrams illustrate these bundles: O(a) = OW, 81/019) «OWN, at) “> O(N, a4)/0(0) Oem |e 0) x ow |= owe M - M _ M O(N, M) ++ o(¥) | M2 0.) 20) x oun |r Om tnle ol +n)|x ay where both i and j are injections. Let @ and ¢ be the canonical forms of M and N, respectively (cf. §2 of Chapter III); @ is an R*-valued I-form on O(M) and g is an R"+-valued I-form on O(N). Then we have Propostrion 1.1. A'*(0) coincides with the restriction of @ to O(N, M). In particular, the restriction of the Re+*-valued form g to O(N, M) is R-valued. Proof. By definition of g we have oY) =eMa(¥)) for Ye TO(N, M)). Since »(¥) € T,(M), where x = x(v), and since x! maps T,(M) ontoR®, 9(¥) isin R’, Since A’(v) = 0 | R* and since n’ © H’(Y) = (¥), we have a PMa(¥)) = H(A AY) = (K(X) (H*())(X). QED. Let y be the Riemannian connection form on O(N). Its restric- tion to OV) | M, that is, j*y, defines a connection in the bundle O(N) | M. But its restriction to O(N, M), that is, ##/*y, is not, in general, a connection form on O(N, Mf). Propostrion 1.2. Let y be the Riemannian connection form on O(N) and let w be the o(n) + 0(p)-component of itj*y with respect to the decomposition o(n + p) = o(n) + 0(p) + g(n, fp). Then w defines a connection in the bundle O(N, M). 4 FOUNDATIONS OF DIFFERENTIAL GEOMETRY Proof, Since ad(O(n) x O()) maps (x, #) onto itself, we see from Proposition 6.4 of Chapter IT that the form @ defines a connection in O(N, M). QED. Prorostrion 1.3. The homomorphism h':-O(N, M) -» O(M) = O(N, M)O(p) maps the connection in O(N, M) defined by co into the Riemannian connection of M. The Riemannian connection form «! on O(M) is determined by H*(0') = 9), where wyty) denotes the o(n)+component of the o(n) + 0(p)-valued form a. Proof. By Proposition 6.1 of Chapter IT we know that A’ maps the connection defined by w into the connection in O(M) defined by a form «’ such that h'*(w’) = @4,). To show that w’ defines the Riemannian connection of M we have only to show that the torsion form of a” is zero. Restricting the first structure equation of y to O(N, M), we obtain di*i*9) = —(i**y) A (i). Since i*j*p is equal to A'*(6) and is R*-valued by Proposition 1.1, comparing the R'-components of the both sides we obtain d(n'*(0)) = —A'*(a’) AK'*(0). Since h' maps O(N, M) onto O(M), this implies d0 = —o' 8. QED. Similarly, by Proposition 6.1 of Chapter II we see that there is a unique connection form o on the bundle O(N, 4)/0() such u = Wo") = eu where @,:,) denotes the o{p)-component of the o(n) + 0(p)-valued form ow. Geometrically speaking, «" defines the parallel displace- ment of the normal space T,(M) onto the normal space T,(M)~ along any curve + in M from x to y. The bundles O(N, M), O(M) = O(N, M)/O(p), and O(N, M)/ O(n), and their connection form w, a’, and w” are related as follows: Proposition 1.4. The mapping (A, H"): O(N, M) — O(M) x (O(N, M)/O(n)) induces a bundle isomorphism O(N, M) ~ O(M) + acne The connection form w coincides with h'*(a') + The proof is trivial (see p. 82 of Volume 1). VIL. SUBMANIFOLDS 5 Finally, we say a few words about the special case of a hyper- sypface. By a hypersurface in an (n 4. 1)-dimensional manifold we mean a (generally connected) n-dimensional manifold M with an immersion f. For each x M, there is a coordinate neighbor- hood U of x in M and a differentiable field, say, &, of unit normal vectors defined on U. Such a & can be, easily constructed by choosing a coordinate system s!,..., x” around x in U and a coordinate system j3, ...,.)"*# around x (= f(x)) in Nj in fact, a unit normal vector field on U is determined uniquely up to sign. For a fixed choice of € on U, it is obvious that ¢ is parallel along all closed curves in U (with respect to the connection in the normal bundle). Assume that NV is orientable and is oriented. Then we can choose a differentiable field of unit normal vectors over M if and only if M is also orientable. Indeed, for a fixed orientation on M, there is a unique choice of the field of unit normal vectors & such that, for an oriented basis {X;,... » X4} of T,(M) at each x eM, {€,, X,,...,X,}is an oriented basis of T,(N). Conversely, if a field § of unit normal vectors exists globally on M, then a basis {X,, «.., X,} of T,(M) such that (8, Xy, ++, Xq} is an oriented basis of T7,(N) determines an orientation of M. If we forget about the particular orientations of N and M, then again a differentiable field of unit vectors on is unique up to sign, For a choice of é, it is obvious that ¢ is parallel along all curves in M. Without assuming that V and M are orientable, let us choose a unit normal vector &, at a point x,on M. The parallel displacement along all closed curves at x, on M will map &, either upon & or upon —f,. In other words, the holonomy group of the linear connection in the normal bundle is a subgroup of the group {1,-1}. (This is also clear from the fact that the bundle O(N, M)/O(n) of normal frames over M has structure group (1) = {1, =1}.) If the holonomy group is trivial (and this is the case if M is simply connected), then é is invariant by parallel displacement along all closed curves at xy. In this case, ‘we may define a differentiable unit normal vector field ¢ on M by translating & parallelly to each point x of M, the result being independent of the choice of a curve from x to x in M, We may thus conclude that if M is a simply connected, connected hypersurface immersed in a Riemannian manifold N, then M admits a differentiable Jfeld of unit normal vectors defined on M. 6 FOUNDATIONS OF DIFFERENTIAL GEOMETRY 2. The Gauss map We consider R"+? as an (n + p)-dimensional vector space with an inner product such that the natural basis is orthonormal. Let G(n, p) be the set of n-dimensional subspaces of R'*, We shall make G(x, p) into a manifold as follows. The group O(n + p) acting on R"? acts transitively on G(n, p) in a natural manner. The elements of O(n + p) which map the particular subspace R* onto itself form the subgroup O(n) x O(p). Thus we have G(x, p) = O(n + p)/0(f) x O(p). ‘The manifold Gn, p) is called the Grassmann manifold of n-planes in RN, By an n-frame in R+? we mean an ordered set of n orthonormal vectors in R*+?, The group O(n + p) acts transitively also on the set Vn, p) of n-frames in R'* in a natural manner. The elements of O(n + p) which fix the n-frame (¢,,... ¢) form the subgroup 0(#). Thus we have V(n, p) = O(n + p)/0(9). The manifold Vin, p) is called the Stiefel manifold of n-frames in Re, Similarly, the isotropy subgroup of O(n +f) at the point of ¥(p,n) represented by the p-frame (ég415- ++ nes) is O(n). Hence P(p, n) may be identified with O(n + p)/O(n). ‘We have now the following three principal fibre bundles over G(r, p): E= O(n +9) over G(x, p) with group O(n) x O(2), E’=V(n,p) over G(n, p) with group O(n), E'=V(p,n) over G(n,p) with group 0(p). ‘The projection in the bundle £’ has the following geometric mean- ing. An n-frame projects upon the n-plane spanned by it. Similarly, the projection in the bundle E” maps a p-frame into the n-plane normal to the p-plane spanned by it. Let y be the canonical I-form of O(n +p) with values in o(n +p) (cf §4 of Chapter 1), Let wg: be the o(n) + 0(2)- component of y with respect to the decomposition o(n + p) = o(n) + 0(f) + 9(n, p) defined in §1. By Theorem 11.1 of Chapter Vit, SUBMANIFOLDS 7 II, the form wg defines a connection in E, which will be called the cangnical connection in E and will be denoted by Pp. he natural projection of O(n + p) onto V(n, p) (resp. onto V(p,n)) defines a bundle homomorphism of E onto E’ (resp. E") which will be denoted by J” (resp. f"). By Proposition 6.1 of Chapter II, there exists a unique connection in £’, denoted by Py. (resp. a unique connection in E", denoted by T's.) such that f” maps I’, into ['y. (resp. f” maps l'yinto I’s-). By the same propo: tion, the connection forms wy, and wp. of gy and Pp. are deter- mined by *(ox) = Yam and f*(o) where yoq) and Yay) are the o(n)- and o(p)-components of y, respectively. We call I'g. and T'g- the canonical comnecioas in E’ and E’, respectively. In §6 of Chapter II, we defined E’ + E” to be the restriction of E’ x E’to the diagonal of G(x, p) x G(x, p)- We have (ef. Propo- sition 6.3 of Chapter IT). PRopostrion 2.1. The mapping (f',f"): E> E’ x E" induces a bundle isomorphism E = E' +E", The canonical connection forms are oe op = f*(oe) + foe). Proof. The first statement is trivial. The second statement follows from hob» © = Yam + Yetor QED. Let M be an n-dimensional manifold immersed in the (n + p)- dimensional Euclidean space R"+*, Considering R'? as a flat Riemannian manifold we apply results of §1. In particular, we have the following three principal fibre bundles over M: P = 0(R™, M) over M with group O(n) x O(f), P’ = 0(M) = O(R™, M)/0(p) over M with group O(n), P* = O(R"?, M)/O(n) over M with group O(f). ‘The connections in P, P’, and P” defined by o, w, and a” in §1 will be denoted by I'p, Fp, and I’p-, respectively. We now define a bundle map g: P -» E. The bundle 0(R*) of orthonormal frames over, R'is trivial in a natural manner, thatis, O(R™+) = Re? x O(n +p). Letp: O(R™*) + O(n + 2) 8 FOUNDATIONS OF DIFFERENTIAL GEOMETRY be the natural projection. Since P = O(R"?, M) < O(R™), every adapted frame v ¢ P can be considered as an element of O(R?). We define gl) = p(t) forveP. Evidently, g is a bundle map of P into E = O(n +f), that is, g commutes with the right translations by O(n) x O( #). The bundle map g induces bundles maps g': P’ + E’ and g": P’ + E" ina “natural manner. It induces also a mapping g: M —> G(x, p). We ‘summarize various bundles and maps in the following commuta- tive diagra | | \ plo We are now in position to prove the main result of this section. Tueorem 2.2. The bundle maps g, g', and g" map the connections Tp, Dp, and Pp upon the sanonical connections Pp, Tg, and Tp, respectively. Proof. Since f’ (resp. f*) maps I’, upon I’, (resp. T'z.) and since A’ (resp. A”) maps Tp upon T'p. (resp. I'p.), it suffices to prove that g maps T'p upon I'p. The flat Riemannian connection of R"? is given by the form p*(y) on O(R™) (cf. §9 of Chapter II), where p: O(R"+*) = R'+? x O(n +p) + O(n + ) is the natural projection. The restriction of p*(y) to P is given by g*(y). The connection form w on P is the o(n).+ 0(f)-component of g*(y) and hence is equal to g*(wg) since wg is the o(n) + 0()= component of y. QED. ‘We shall give a geometric interpretation of g, ¢’, g”, and g. Let Pi, 5.9%? be the coordinate system in R%? and let wy be the ‘orthonormal frame at the origin given by 2/dy!, ..., /@)"*?. To each element a ¢ O(n + p) we assign the frame aw, at the origin of RY, This gives a one-to-one correspondence between O(n + ?) and the set of orthonormal frames at the origin of R'#?. For each adapted frame ve P at x ¢ M, g(0) is the frame at the origin of £209 VIL. SUBMANIFOLDS 9 Re? parallel to v; this follows from the fact that the mapping 2 Q(R™) = RY? x O(n +p) + O(n +f) is the parallel dis- plagement of O(R*#) into the frames at the origin. This inter- pretation of g implies that g’ maps a frame u ¢ O(M) upon the neframe in R*” parallel to u. Similarly, g” maps a normal frame wat x €M upon the p-frame in R"+? parallel to u. Finally, g maps x € Minto the element of G(n, p) represented by the n-dimensional subspace of R"” parallel to T.(M). When we consider the orientation in R"”, we take the following three principal fibre bundles over G(n, p) = SO(n + p)/SO(n) x E = SO(n +p) over G(a, p) with group SO(n) x SO(p), E’ = SO(n + p)/SO(p) over Gin, p) with group SO(n), E* = SO(n + p)/8O(n) over G(n, p) with group SO(/). ‘The base space G(n, p) is the Grassmann manifold of oriented n-planes in Rv, If M is orientable and oriented, taking those adapted frames which are compatible with the orientations of M and Rr? we obtain a subbundle P of P with group SO(n) x SO(p). We set Piso(p) and P* SO(n) and we define mappings WHS, Ff", & Wand Z" analogously. Then we obtain a theorem similar to Theorem 2.2. Moreover, if M is an oriented hyper- surface in R**, then the bundle map g: P > E induces a map ¢ from the base space M of P into the base space G(n, 1) = S* (n-sphere) of E, called the spherical map of Gauss. Geometrically speaking, $ assigns to each point x ¢ M the unit vector at the origin of R'*! which is parallel to the unit normal vector , of M atx chosen in such a way that &, is compatible with the orientations of Mand Rv4, We shall often identify 4(x) with &,. If Mis not orientable, we can assign to each x € M the normal line, but we cannot obtain a continuous field of unit normal vectors, and thus we obtain the mapping of M into the real projective space G(x, 1) induced by the bundle map g: P + E, Example 2.1. Let M be an oriented hypersurface in R'+ as above, The bundle £ = £" = SO(n + 1) over G(n, 1) = S* with group SO(n) can be identified with the bundle of oriented ortho- normal frames over $* in a natural manner and the canonical 10 FOUNDATIONS OF DIFFERENTIAL GEOMETRY connection in £ (or B’) can be identified with the Riemannian connection of S* (cf. the proof of Theorem 3.1 of Chapter V). Then Theorem 2.2 means that the spherical map $: M —> S* together with the bundle map g': P’ + & sends the Riemannian connection of M into the Riemannian connection of S* in the following sense. Let + be a curve from xeM to yeM. The parallel displacement 7: T,(M) + 7,(M) along + corresponds to the parallel displacement $(r): Tgie)(S") > Tyin(S*) along the curve (7) as follows. Since both T,(M) and Tya)(S*) are per- pendicular to £,, they are parallel to each other in R™4 and can be identified by a linear isomorphism y,: T,(M) + Tya(S")- Similarly, we have y,: T,(M) + Tyy(S*)- Then +: T..M) > T,(M) coincides with yz1° $+) © ye 3. Covariant differentiation and second ‘fundamental form In this section we shall discuss the Riemannian connection of a submanifold by using the formalism of covariant differentiation ‘Vc¥. We shall also define the second fundamental form. ‘Let M be an n-dimensional manifold immersed in a Riemannian manifold N of dimension n +p. We denote by V’ covariant differentiation in N. Since the discussion is local, we may assuine, if we want, that M is imbedded in NV and that we can choose p cross sections &,..., €, of the normal bundle 7(M)+, namely, differentiable fields of normal vectors, that are linearly independent at each point of M. They may be further assumed to be orthonormal at each point. Let Xand ¥ be vector fields on M. Since (Vic¥),is defined for each x € M, we shall denote by (VF), its tangential component, and by &,(, ¥) its normal component so that (Vy ¥)e = (Va¥ a + 10(% ¥), where (Vx¥),€7,(M) and 4,(X, ¥) © T,(M)+. Here (V,x¥), is introduced just as a symbol for the tangential component; the point is to show that it is in fact covariant differentiation for the Riemannian connection of M. a in gna Vi. SUBMANIFOLDS u It is easily verified that the vector field Vxc¥ which assigns the vector (Vx¥), to each point x ¢M is differentiable and that a(%, Y) is a differentiable field of normal vectors to M. We prove Propostrion 3,1. Vx¥ is the covariant differentiation for the Riemannian connection of M. Proof. We verify the properties (1), (2), (3), and (4) in Propo- sition 2.8 of Chapter ITI. (1), (2), and (3) are obvious from the corresponding properties of V’ on N and linearity of the projection T,(N) — T.(M). To verify (4), let f be a differentiable function on M, Then Vx(f¥) = (XAY +F(¥4¥), where (X/)¥ is tangential to M. Thus taking the tangential components of both sides, we obtain Vx J¥) = (XY +F(Vx¥), proving property (4) for V. By Proposition 7.5 of Chapter III we see that there is a unique linear connection P on M for which V.x¥ is the covariant differentiation. To show that I’ is the Rie- ‘mannian connection for the induced metric on M, itis sufficient to show: (a) the torsion tensor of I's 0, that is, Vx¥ — VyX =[X,¥], (b) Vg = 0. In order to prove (a), let us write VyY = Vy¥ + a(X, ¥) and VpX = VpX + al ¥, X). If'we extend X and ¥ to vector fields X’ and Y’ on N (as we may do locally), then the restriction of [X’, ¥'] to M is tangent to M and coincides with [X, Y]. Thus (X.Y, =[%, Yl, where xe M. Of course, we also have Ve¥' =Vg¥ and Vy.X"=VyX on 12 FOUNDATIONS OF DIFFERENTIAL GEOMETRY From the equations above we obtain Viel! — VpX" — [X,Y] = Vx¥ — VyX — (X,Y) +a(X, ¥) —a(¥, X). Since the left hand side is 0 (because the torsion tensor of the Riemannian connection V' of N is 0), we see that Vx¥ — VX — [X,Y] =0, proving (a). Furthermore we have a(X, ¥) =a(¥, X). To prove (b}, we start from V'g = 0, which imy XY, Z) = e(Vx¥, Z) +a(¥, VxZ) on M for any vector fields X, ¥, and Z on M. We have, however, 8(Vx¥, Z) = a(Vx¥ + a(X, ¥),Z) = a(Vx¥, Z), because «(X, ¥) is normal to M. Similarly, we have &(Y, VeZ) = a(¥, VxZ). ‘Thus we obtain X-a(¥, Z) = g(Vx¥, Z) + g(¥, VxZ), which means Vg = 0. We have thus proved Proposition 3.1, QED. ‘We now prove the basic properties concerning the normal com- ponent a(X, Y). We denote by ¥()+ the set of all differentiable fields of normal vectors to M; it is a real vector space and a module over the algebra §(M) of differentiable functions on MM. Provosrrion 3.2. The mapping a: X(M) x X(M) ~» X(M)+ is symmetric (ist. «(X, ¥) = a(¥, X)) and bilinear over §(M). Con- sequently, a,(X, ¥) depends only on Xp sand ¥, and there is induced @ symmetric Bilinear mapping a, of T,(M) x T,(M) into T,(M)+. Proof. The symmetry of « has been proved in the proof of Proposition 3.1. Additivity in X or ¥ (when the other is fixed) is obvious. For any f'€ §(M), we have Vex¥ + a(fX, ¥) x =f Ve¥ (Wx¥ + a(%, ¥)), 1-20 > a. Vit. SUBMANIFOLDS 13 which implies : a(fX, ¥) = fe aX, ¥)- By shmmetry, we have a(X, fY) = f-a(X, ¥), thus proving that is bilinear over §(M). The rest of Proposition 3.2 is similar to the situation in Proposition 3.1 of Chapter I. QED. We define a: #(M) x ¥(M)—3(M)+ as the second funda- ‘mental form of M (for the given immersion in NV). For each x € M, a,: T,(M) x T,(M) + T,(M)+ is called the second fundamental form of M at x. In the case where M is a hypersurface immersed in N, choose a field of unit normal vectors & in a neighborhood U’ of a point Xp € M. For any vector fields X and ¥ on U, we may write a(X, ¥) = A(X, ¥)E, where A(X, ¥) is a symmetric mapping of X(U) x X(U) into ‘B(U) which is bilinear over §(U). At each x U, A, is a sym- metric bilinear function on T,(M) x T_(M). In classical litera- ture, A is called the second fundamental form of M for the choice of £. If it is possible to choose a field of unit normgl veetors € globally on M, then we can define h globally as a mapping of X(M) x 4(M) > B(M). ‘More generally, if M has codimension p, then we may locally choose p fields of unit normal vectors £,,...., & that are orthog- onal at each point. We may then express « by. a(X, ¥) = $4(%, YE thus getting p second fundamental forms in the classical sense. Next, let ¥ €X(M) and ¢ €X(M)+ and write (We = (ADs + (Dab where, for the moment, —(4,(X)) and D.x€ are just symbols for the tangential and normal components that depend on X and It is easily verified that the vector field x + (4,(X))_ and the field of normal vectors x + (Dé), are differentiable on M. About A, we prove 4 FOUNDATIONS OF DIFFERENTIAL GEOMETRY Proosrrion 3.3. (1) The mapping (X, 8) €X(M) x %(M)+ — AMX) €X(M) is bilinear coer %(M); consequently, (A,(X))e depends only on X, and Eq, and there is induced a bilinear mapping of T.(M) x T,{M)+ into T,(M), where x is an arbitrary point of M. (2) For each € € T,(M)4, we have 8(A(X), ¥) = g(a(X, Y), €) “for all X, ¥ © TM) ; consequently, Ay isa symmetric linear transforma- tion of TAM) with respect to ge Proof. (1): Additivity in X or & (when the other is fixed) is obvious. For any fe §(M), we have Vig FE) =f Uxe + (XAE = “f+ (A(X) +f: Dak + (ANE, Comparing this with Vx fe) = —Ayn(X) + Dx(FE), we obtain 4,,(X) = f,(X) for the tangential components and Dx(fé) = (XE +f: Dxé for the normal components. (The second identity is used in the next proposition.) On the other hand, a similar argument for V;x(¢) implies that 4,(fX) = f+ A(X) ‘This shows that A,(X) is bilinear in X and & over §(M). (We have also D,x =,f* Dé, which will be used for the next propo- sition.) (2): For any Ye X(M), we have g(¥, ) = 0. Differentiating covariantly with respect to X (for the Riemannian connection V’), we have 8(VXY, &) + @(¥, Vek) =0 so that &VX¥ + o(%, ¥), 8) = a(Y, A(X) + Dud) = 0. Since g(Vx¥, #) = g(¥, Dx#) =0, we get (0X, ¥), 8) = a4), Y)- This shows that A, is the linear transformation of T,(M) which corresponds to the symmetric bilinear function r. on T,(M) x T{M). Thus 4, is symmetric: g(4,(X), Y) = g(%4,(¥)), proving Proposition 3.3, QED. Vi, SUBMANIFOLDS 15 As for Dx, we have Brorosrion 34. The mapping (X,£) €X(M) x X(M) Dg eX(M)+ coincides with covariant diferentiation of the cross section & of the normal bundle T(M)* in the direction of X with respect to the connection in T(M) + defined in §1. Proof. In the preceding proof we have verified the same formal properties of D.x as those in Proposition 1.1 of Chapter ITI. Thus Def is actually covariant differentiation of a certain linear con- nection in the normal bundle, Moreover, for §, 7 €X(M)* we have = ~4,(X) + Dan so that (Db 0) + (8 Dyn) = 8 Vie, n) + (6 Von) Xgl 7), which shows that our connection Dx is metric for the fibre metric in T(M)+, namely, the restriction of g to the normal spaces. It remains to show that the metric connection Dx coincides with the connection defined in §1. However, we shall omit the Proof. QED. We have thus developed the first set of basic formulas for sub- manifolds, namely, () VyY = Va + 2(X, Y) m) ef = A(X) + Dyk (1) is called Gauss's formula, and (IT) is called Weingarten’s formula, Tn the case of a hypersurface M, (I) takes a simpler form. In fact, if we take a field of unit normal vector fields & then dift ferentiating g(&, €) = 1, we obtain aVxe, 8) =0, and hence g(Dx#, ) =0. Since Dx§ is normal and is therefore a scalar multiple of & we musthave Dx = Oateach point. Thus D ¢@ = 0 (when g(&, &) = 1) In the following examples, we shall discuss some special cases of (1) and (II) and also give some geometric consequences of Propositions 3.1-3.3. 16 FOUNDATIONS OF DIFFERENTIAL GEOMETRY Example 3.1. Let M, and M, be submanifolds, both of dimen- sion n, in a Riemannian manifold N of dimension n+p. Let 7 =a()), 0 S05 1, be a differentiable curve in M, A M,. We shall say that M, and M, are tangent to each other along 7 if Ty(M;) = Tauy(M;) for each 1, 0S #3 1. In this case, the parallel displacement along 7 in M, coincides with the parallel displacement along + in M,. In fact, if X = %, then for any vector field ¥ along 7, we have VY = VOY + 0f(X, ¥) = VRY + 0!(X, ¥), where V4 (resp. V) is the covariant differentiation for My (resp. M,) and a” (resp. a‘) is the second fundamental form for M, (resp. M,). Now if we assume that ¥ is parallel along z in M,, then vey which implies that Vjc¥ is normal to M, (and to M,). This in turn means that VPY = 0, that is, ¥ is parallel along 7 in My. In particular, if + is a geodesic in M,, 7 is a geodesic in Mz. Example 3.2. Let M be a submanifold of N. Let + 0 51 1, be acurve in M. Then 7 is a geodesic in M if and only if VipX, where X = &, is normal to M. In particular, if + is a geodesic of IV contained in M, it is a geodesic in M. (A geodesic in M is not in general a geodesic in N; we shall discuss this question, in detail in §8.) Example 3.3. Let M be a submanifold of dimension n in a Riemannian manifold N of dimension n + p. Let x» be a point of ‘M. It is possible to take a system of normal coordinates »#, . y'*? with origin x5 such that (3/8)%)...--» , (2/@")., span T,,(M). In fact, let Yay. Yur Yasin +++s Yary be an orthonormal basis of T,,(N) such that Y¥y,..., Y, form a basis of T_,(M). We may choose a system of normal coordinates *, ..., 9" such that (8/8y%)., = Yu 1s is m+ p (ch. §3 of Chapter IV). Note that Yyun +++» Futy form a basis of T,,(M) 4. Let s4, ...")x" be an arbitrary coordinate system in a.neighbor- hood U of x, in M and let HAH ae), ae VIL. SUBMANIFOLDS W be the system of equations that defines the imbedding of U into N. We shall show that a {( 8/8") (8/8%"), 2X (Gy/Ox Ox"), Fes namely, the coefficients of «,, with respect to the basis (0/@x*).,. +++; (0/Oe")xqin T,,(M) and the basis Yayi,.++s Yaapin T,,(M)* are those of the Hessian p*/@x*Ax" at x. In order to prove this we compute: Vian ( 3] 2 ) Fan ($(4/84(87874)) = Zaria (ay 2 Ving( A) +S (aye (a1) =F rey arene) + ¥ ayyaray (ala, where It are the Cristoffel symbols for the Riemannian connei tion in N with respect to y*, ...,9°**. Note that [7 are 0 at the origin x» of the normal coordinate system, Taking the normal components of both sides at x5 of the equation above, we have 'S (ayr/ataxy Te Example3.4.. Let NV = R*, the Euclidean space with standard Euclidear metric, and let .M be an n-dimensional submanifold of Re, that is, a hypersurface in R"*1, We may represent M locally by 54 (8/8x*)) (8/2")x,) PaHH yey 1 whore y!, ..., 9%1 is the standard rectangular coordinate system and 2',..., #* is an arbitrary local coordinate system of M. Or we may consider y = (j!,..., 3") as the position vector of a point with coordinates (7!,..., y"*#) and represent M locally by the equation for the vector-valued fanction: DAH ee) sn+l, 18 FOUNDATIONS OF DIFFERENTIAL GEOMETRY For each i, 1S i $1, the vector field @/ax! can be expressed by the vector-valued function ¢, = 3y/@x'. The induced metric g on ‘Mis given by Bes = B(9/ Ax, 88x") = (ey €4), where (, ) denotes the standard inner product in the vector space R"+4, Choose a field of unit normal vectors on M which is represented by the vector-valued function £(2!,..., x") on the coordinate neighborhood of M. Thus (B8)=1 and (54) =0, Isisn Since the Riemannian connection of R"*" is flat, we have Vis = Bes/Ox, which is the partial derivative of the vector-valued function ¢;. Thus the formula of Gauss can be written as a) aes! = Fhe + huss where we know that T¥, are the Christoffel symbols for the Riemannian connection of the hypersurface M, that is, Vana(@/ae) = ¥ 1502/24) and that fy, are the coefficients of the second fundamental form. Similarly, the formula of Weingarten takes the form ay aglax! = — ‘where (at) is the matrix representing A = A, with respect to ¢ = (2/@x), 1 = i = n. Asa special case of Proposition 3.3 (2) (or as can be directly verified), we have g(de,, ¢)) = h(ey ¢), that is, where (g) is the inverse of the matrix (gy,). Example 3.5. Continuing Example 3.4, we shall reconsider the spherical map $: x € M — é, €$" defined in §2. For each point xe M, the differential (4,), is a linear mapping of T,(M) into Vil. SUBMANIFOLDS 19 (S*). Let us denote by p, the natural linear isomorphism of (BR) onto Ty(R'); observe that p, maps T.(M) onto T,c(S*). We show that the linear transformation p;!+ (6%), of T/{M) into itself coincides with —A in Example 3.4. In fact, each ¢, = (8/@x") is mapped by (J4)» upon the vector in Tyn(S*) represented by the vector (@f/@x'), in R", Thus p."> ($y) aty is also represented by (8/2), By (II) in Example 3.4, this means that 9! ($e). maps ¢ upon —Ef., afe. Thus our mapping coincides with —A. We may therefore say that, through the identification by fo —A, is nothing but the Jacobian of the spherical map. We may also relate the spherical map to parallel displacement on M (cf. Theorem 2.3). Let x(t) be a curve on M and let X, = 2(t) be the field of tangent vectors of the curve. Suppose that ¥Y, is a field of vectors that arg parallel along x(¢) on M. Then p,q) * Y; is parallel along the curve 4(x(t)) on S*. To prove this, we write aY,Jdt = Vx,¥, + WXu Yi) Say = WX ¥,) Sec since Vx,¥, = 0. This means that dY,/dt is normal to M along x(t). Since fu) * Y; is represented by the same R"-valued vector function of tas that for ¥,, and since faa * Exe i8 equal to the unit normal vector to S* at $(x(t)); it follows that d(py * Y,)/dt is normal to $* along $(x(¢)). This proves that pg * Y, is parallel along ¢(x(1)) on S*. We shall conclude this section by expressing the second funda- ‘mental form of M in terms of the canonical form and the connec- tion form of the bundle O(N, M) Let M be an n-dimensional manifold immersed in an (n + p)- dimensional Riemannian manifold M. Let and ye the canonical form and the Riemannian connection form on O(N), respectively. We define an R?-valued quadratic form & on O(N, M) as follows: &(X, Y) = the Rr-component of »(X)9(¥), where X and ¥ are tangent vectors of O(N, M) at a point ve O(N, M). Take the natural basis for R"+? so that the first n vectors of the basis span R" and the last p vectors span R?, Then we can write and y in matrix forms (p) and (pd), respectively. We shall use the convention that indices 4, B, ... run from 1 ton + p, indices 20 FOUNDATIONS OF DIFFERENTIAL GEOMETRY i,j, --., run from 1 ton, and indices r, 5, ..., run from n + 1 to n+ p. We know by Proposition 1.1 that, restricted to O(N, M), the forms g* vanish identically. The first structure equation of O(N) restricted to OW, M) yields 0 = der = —Z ving Itfollows that, restricted to O(WV, M), yjcan be written as follows: w= ZAig! with Ay = Ae Hence @ = (a) can be written as follows: # = Aig'p. Proposrrton 3.5. The second fundamental form a of an immersed manifold M in a Riemannian manifold N is related to the form & on O(N, M) by a(nX, n¥) = 0(&(X,¥)) for X, Ye TAO, M)), where 1 denotes the projection O(N, M) — M. Proof. Since the statement to be proved is local, we may assume that O(N, M) admits a cross section. We extend the given vector Ye T.(O(N, M)) to a vector field ¥ on O(W) | M such that it is invariant by the action of the structure group O(n + p) and that it is tangent to O(N, M) at each point of O(N, M). To construct such a vector field ¥, take a cross section @ of O(N, M) and extend first the given vector to a vector field on o(Af) and then extend it further to a vector field on O(N) | M by translating it with the action of O(n + p). The restriction of Y 10 O(N, M) will be denoted by the same letter ¥. Then g(Y) may be considered as an R'+¥-valued function defined on O(N) | M cor on O(N, M) according as ¥ is considered as a vector field defined on 0() | M or on O(N, M). From the definition of the canonical form g, we have AY) a(Y,)) for we OL) | M. (We denote by = the projection of O(N) | M onto M as well as the projection O(N, M) —> M). We are now in a position to apply the Lemma in the proof of Proposition 1.1 of Chapter III (p. 115, Volume I); @(Y) will play the role of f there. VI, SUBMANIFOLDS al Extend 7X € Typ(M) to a vector field on M and denote by X's horizontal lift to O(.V) | M with respect to the connection defihed by the restriction of y to O() | M. Then (Vex) ater = V(X P(L)))e)- Similarly, denote by X* the horizontal lift of rX’ to O(N, M) with respect to the connection defined by the (0(n) + 0( p))- ‘component of the restriction of y to O(N, M). Then (yet Pet = 2X @(E) 0) Since #X = m(X/) = 2(Xf), we have Vigal — Viger ¥ = o(((X" — X*)(0(¥))))- Since p(X"), = 0, we have y(X" — X*), = —p(X*)., We set A= y(X" — X4), = —v(X*), € ol + A) ‘The fundamental vector field A* on O(N) | M corresponding to A coincides with the vertical vector field X’— X* at v, To evaluate (X’ — X*)(p(¥)) at » we consider therefore 4*(p(¥))- By Proposition 3.11 of Chapter I, we have A*(p(¥)) = ¥(@(4*)) + @(L4*, YI) + 2de(A®, ¥)- Since A® is vertical, we have @(4*) = 0. Since Y is invariant by O(n + p), we have [4*, ¥] = 0. Hence A*(g(¥)) = 2dp(A*, Y) = —¥(A*)9(¥)- We evaluate the equality above at v. Since A? = (X" — X'*), and y(d*) = A = —y(X*),, we have (X= XN). = WEN = GE MN) Hence Vign¥ = Vygn¥ = o(((¥" = X*)(@(Y)e) = R(X, Ye). Aigig’, it follows that (&(X*, Y)). = ((X, YJ oY) + v(V)e(A*) Since # = E,,, By definition, a(nX, nY) = Vigr¥ — Vixr¥e Hence, a(nX, n¥) = 0(8(X, ¥))- QED. 22 FOUNDATIONS OF DIFFERENTIAL GEOMETRY 4, Equations of Gauss and Codazzi Let M be an mdimensional Riemannian manifold which is isometrically immersed in an (n + p)-dimensional Riemannian manifold N, We shall first find a relationship between the curva- ture tensor fields of M and N. Since the discussion is local, we choose # orthonormal fields of normal vectors Gy ..., & to M, Let # be the corresponding second fundamental forms and let 4, = 4,,. Using the formulas of Gauss and Weingarten we obtain for any vector fields X, ¥, and Z tangent to M Vig(Vj-Z) = Ve(VeZ + DAY, Z)E) = Vx(¥rZ) + FAX, Vy Z)E FDNY, ZB + THY, Z){—4(X) + Dxbdy Vx(VrZ) — SHY, Z)A(X) + LX MY, Z) +A, Ve Z)VE + ZAM, Z)Dxby where the summation extends from I to p. In the last expression, the first two terms give the tangential component, and the last ‘two terms the normal component. For Vi-(VxZ) we may simply interchange X and ¥ in the equation above. We have also VixniZ = YoxnZ + ZAG ¥] Z)& = VexaiZ + L(V x, Z) — (VX, Z)}is by virtue of [X, ¥] = Vx¥ — Vy-X on M. Using these equations, we find that the tangential component of BUX, Y)Z = Vx(Vp2) — Ve (Vx2) = Vix is equal to R(X, Y)Z + SMX, Z)AAY) — HY, Z)4(X)}- If Wis tangent to M, then we get 8 (R(X, Y)Z, W) = g(R(X, ¥)Z,W) + MX, ZY, W) — HCY, Z)A(X, W)} = (R(X, ¥)Z, W) + a(a(X, Z),2(¥, W)) —a(al¥, Z), a(X, W)), VI, SUBMANIFOLDS 23, since, for example, $ SAX, Z)e(A(Y), W) = SAX, ZY, W) = a(e(X, Z), a(¥, W)) because of orthonormality of &, ..., & Thus the relationship between the Riemannian curvature tensors of N and M (ch. §2 of Chapter V) is given by Prorostrion 4.1 (Equation of Gauss.) RW, Z, X,Y) = RW, Z, X,Y) + g((X, Z), a(¥, W)) — ala(¥, Z), a(X, W)), where X,Y, Z, and W are arbitrary tangent vectors to M. If we wish, we may state the equation of Gauss in terms of the curvature transformations as follows. For X, ¥, Ze T,(M), there is a unique element in T,(M), which we denote by B(X, Y)Z, such that 8(B(X, ¥)Z, W) = g(a(X, Z), a( ¥, W)) — gla(¥, Z), a(X, W)) for every W € T.(M). It is obvious that B(X, ¥)Z is trilinear in X, ¥, and Z, and that B(Y, X) = —B(X, ¥). The equation of Gauss says that the curoature transformation R'(X, Y) followed by the projection: T,(N) — T,(M) is equal to R(X, ¥) + B(X, ¥)- Coroutary 4.2. If N i of constant sectional curvature k, then “R(X, YZ = Kel, Z)X — g(X, Z)¥} — BUX, Y)Z. In particular, if N = R°*® (with flat metric), then R(X, ¥) = —B(X,¥). Proof, This follows from the expression of R’ given in Corol- lary 2.3 of Chapter V. QED. Example 4.1. Ifthe codimension p is 1, that is, if M is a hyper- surface of N, then we have BUX, Y)Z = A(X, Z)AY — A(Y, Z)AX = (AX, Z)AY — g( AY, Z)AX, By FOUNDATIONS OF DIFFERENTIAL GEOMETRY In particular, if N = R", then we have R(X, Y)Z = g(AY, Z)AX — g(AX, Z)AY. This is the classical equation of Gauss (for n = 2). Note that the right hand side is independent of the choice of a unit normal field. Example 4.2. Let M be a hypersurface of R'*!, For a choice of a unit normal field &, A = 4, is a symmetric transformation of T,(M). Thus there exists an orthonormal basis Xy,..., X, in T,{M) such that AX, = 2,X,, 1S i Sn, where Ay» ‘are the eigenvalues of 4. For any pair (i,j), where i and with origin 0 in R"+4. If we choose the outward unit normal , = x/||x] for x ¢ M, then ~ (1/7) by Example 3.5, where I denotes the identity transformation of 7,,(M). By the classical equation of Gauss, we have RX, Y)Z = (Ifr*)(g(¥, Z)X — aX, Z)¥), which shows that $*(r) has constant sectional curvature I/r*, (This result was established in Theorem 3.2 of Chapter V by a different method; our present method is classical and more elementary.) Let us now look at the normal component of R'(X, Y)Z for an arbitrary submanifold M in N. Using the expression for Vie(V-Z), V,(Vi-Z), and Vix; Z and observing that X-H(Y, Z) — VAY, Z) — HUY, VxZ) = (WANN 2), Vil. SUBMANIFOLDS 25 we see that the normal component of R’(X, Y)Z is equal to Fvsh WZ) ~ (WAN ZB + LAY, Z)Dxk (% Z)Dv ed. Actually, we may give a simpler expression to the normal vector above. For the second fundamental form a, we define the co- variant derivative, denoted by V2, to be (¥x0)(¥, Z) = Dx(al¥, Z)) — a(Vy¥, Z) —a(¥, VyZ). (This is the covariant derivative of 2 with respect to the connection in T(M) + T(M)+ obtained by combining the connections Vx in T(M) and Dx in T(M)*; see Proposition 6.3 of Chapter If and Proposition 1.2 of the present chapter, although we shall not elaborate on this matter.) Using $1, ... &,, we have (Wxa)(¥ Z) = Do( EM, Z)B) —Z (VY, Z) + AY, PZ), = DX-w(Y, Z)8, + THY, Z)Dxk LW RL, Z) + HUT RZ)E =Z(VekUY, Zi + THY, Zeke It follows that the normal component of R'(X, ¥)Z is expressed by (Vx2)(¥, Z) ~ (y2)(X, Z). We have thus Prorostrion 4.3 (Equation of Codazzi). The normal component of R(X, ¥)Z is given by (¥xx)(¥, Z) — (Vra}(¥, Z) = TUT HI Z) — Crh ZY, + TM (Y, Z)Dxé, — A(X, Z)Dy by. Coroutary 4.4. If N is of constant sectional curvature, then we have (Wxa)(¥, Z) = (Wy2)(X, Z). Proof. By Corollary 2.3 of Chapter V, we know that &’(X, ¥)Z is tangent to M; hence its normal component is 0. QED. 26 FOUNDATIONS OF DIFFERENTIAL GEOMETRY Example 4.3. If NV = R"** and if M is a hypersurface, then we have Dyé = 0, and hence (VxA)(¥, Z) = (Veh) (X, Z), or, equivalently, (FxA)(¥) (WyA)(X). This is the classical equation of Codazzi (when n = 2). Remark. At the end of §3, we showed how the second funda~ mental form « can be expressed in terms of the canonical form @ and the connection form y on the bundle O(N, M). We shall indicate how the equations of Gauss and Codazzi can be derived from that viewpoint. Using the same convention as in §3 that 1S4,B,...5n+p, while 1 Sij,...snandnt+1sr, “+p, we express the second structure equation of N as Y= dvi + Sut awh + Dad An where (Vf) is the curvature form of N. Setting A =iand B =j and restricting this second structure equation to O(N, M), we obtain ¥=U+ Dery, where (91) is the curvature form of M (lifted from 0(M) to O(N, M)). Since yf = —yf = —¥, Ajg* and yj = E, Aj’, we have Vim 4S Aids — Ande ag This is equivalent to Proposition 4.1 (Equation of Gauss). Similarly, setting A = s and B = j in the second structure equa- tion of N and restricting it to O(N, M), we obtain an equation equivalent to Proposition 4.3 (Equation of Codazzi). In the rest of the section, we shall prove some theorems involving sectional curvature. First we prove preparatory results, Propostrion 4.5, Let M be an n-dimensional submanifold immersed in an (n + p)-dimensional Riemannian manifold N. Let X and ¥ be a 355044 VIL SUBMANIFOLDS 7 pair of orthonormal vectors in T,(M), where x © M. For the plane X n shanned by X and Y, we have * ky(X An ¥) = kylX 4 ¥) + gla(X, ¥), a(X, ¥)) — a(x(X, X), @(¥, ¥)), where ky (resp. kyy) denotes the sectional curvature in N (resp. M). In particular, if N = R™, then ky (X 4 Y) = g(a(X, X), a(¥, ¥)) — g(a(X, ¥), aX, ¥)). Proof. This is immediate from the equation of Gauss in Proposition 4.1, since ky(X a Y) = R(X,Y, X,Y) and ky(X a Y) = R(X, ¥, XY). QED. Propostrion 4.6. Let M be an nedimensional compact manifold immersed in R*?, Then there is a point xy € M such that a(X,X)e0 for any Xe T,(M), X40. Proof. Let y(x) denote the position vector, for the point in R™? corresponding to xe M. Let g(x) = (y(x),.9(x))/2, where (, ) is the Euclidean inner product. The differentiable func- tion g on M takes a maximum, say, at xy. Namely, x» is a point such that the point y(%) = yp is of maximum distance from the origin in R'?, The following argument is valid if g has a local maximum at x9; hence we now assume that a neighborhood U7 of x is imbedded in R"*?, and we identify x € U with y(2), so that (x) = (x, x). For any vector field X on U, Xx (that is, X applied to the vector-valued function x) is the vector-valued function which expresses X. ‘This being said, we have Xp = (X, x) and this is 0 at xp. Thus (Xap 0) = 0. Since X is arbitrary, it shows that the vector x is normal to M at xy. We have further Bp = (Wey 8) + (XX) = (2(% 2), 4) + e(% A) at rey since VieX = VxX + a(X, X). Since g has a local maximum at %qy it follows that X%p = 0 at 2». Thus we obtain (a(Xey Xay)s to) + g(May Xe,) = 9, 28 FOUNDATIONS OF DIFFERENTIAL GEOMETRY that is, (2(Xeyy Xe,)s eo) S —e(Ney X,,) <0, and a(X,,, X,,) #0 for X,, # 0. This proves that «(X, X) + 0 for every non-zero Xe T,(M). QED. ‘We now state the main result, ‘Turorem 4.7. Let M be an n-dimensional compact Riemannian ‘manifold isometrically immersed in R'*”. If, at every point x of M, the tangent space T,{M) contains an m-dimensional subspace T such that the sectional curcature for any plane in T; is non-positive, then we have Proof. By Proposition 4.6, there exists a point x of M such that a(X, X) # 0 for any non-zero vector X in T,(M). Consider the restriction of a to T; x T;. By assumption, the sectional curvature k(X 0 Y) is non-positive for any plane X A ¥in T;(M). By Proposition 4.5, we have g(a(X, X), a(¥, Y)) — g(alX, ¥), a(X, ¥)) 50 whenever X and Y are a pair of orthonormal vectors in 7:(_M). Actually, the preceding inequality holds for all X and Y in 7(M) by Proposition 1.3 of Chapter V (or as can be directly verified by orthonormalizing X and ¥). Our conclusion will therefore follow from the following lemma. Lena. Let a: R x Rm > RP be a symmetric bilinear mapping and let g be a positive definite inner product in RP. If (1) (a(x 4), 2(9,9)) — g(a( 9), al) = 0 Sor all x, ER” and if (2) a(x, x) #0 for all non-zero x €R™, then we have p = m. Proof. We may extend « to a symmetric complex bilinear mapping of G™ x * -» C?, Consider the equation a(z,z) =0. Since « is C*-valued, this equation is equivalent to a system of p 4 quadratic equations: ah(2, 2) = 0,444, a%(z, 2) = 0. ‘VIL. SUBMANIFOLDS 29 Suppose p A). Thus 1/n (trace 4,) is a linear function on T,(M)+. There is a unique element in’ 7,(M)+, say, n, such that 1 (ace A) = gl) — for every €€ T,(M)+. We call y the mean curvature normal at x. If &, «.., &,i8 an ortho- normal basis in T,(M)+, and if 4, = 4,,, then (Eon) lise trace A, so that y= 13 (uace A). In particular, for p = 1 we have the definition given in Example 5.3 in the case of N = R"1, Mis said to be minimal in N (for the immersion) if the mean curvature normal vanishes at each point. We may prove the following: There is no compact minimal submanifold in a Euclidean space. From the proof of Proposition 4.6, we know that there is a point x9 of the compact submanifold such that the posi- tion vector x» is normal and such that (a(X, X), x9) <0 for every tangent vector X # 0 at xq, Ifwelet € = xq, then from Proposition 3.3 (2), we have (A(X), X) = g(a(X, X), €) <0 for every tangent vector X + 0, which implies that 4, is negative- definite. Thus trace 4, cannot be 0. Remark. Lot Ay... , Ay be the principal curvatures of a hyper- surface Mat xe M, and let Xy..., X, be the corresponding orthonormal basis for 7,(M) so that AX, = 4,X;fori = 1,...,m VIL SUBMANIFOLDS 35, ‘The Riemannian curvature tensor R may be considered as a symmetric bilinear mapping A* T,(M) x At T,(M) Rat each pohnt x ¢M. Let & be the corresponding symmetric linear trans- formation At T,(M) -+ A? T.(M). By the equation of Gauss (cf. Example 4.1) we have RIX AY) = AX A AY for X, Ye T,(M). Hence SE eee ee eee Since {X, 4 X,; 1 0, then every point of M is umbilical and M is locally a Aypersphere. Proof. We first prove (2) and (3). If S = pg, then by Propo- sition 5.2 we have (trace A)A — 4? = pl, where J's the identity transformation. At a point x of M we take an orthonormal basis X,,..., X, in T,(M) such that AX, 14,X,, 1 & i 0, we show that all 4,’s are equal. Suppose that 4, # 4,. Then the other 4's are equal to A oF Ay. ‘Thus we assume that 4, appears p times and A, appears q times (so that n =p + q) among the eigenvalues of 4. Then we have from the quadratic equation Ay t+ Wa = 8 = phy + ghey that is, (p — 1)ar + (9 — Ia = 0 and dyh = p > 0. nam 5 I eee Vil. SUBMANIFOLDS 37 The second relation shows that 4, and Z have the same sign. ‘Thin the first relation implies that p = 1, q = I and hence n = 2, contrary to the assumption. This proves that all 4,’s are equal (alld not equal to 0, because p # 0). ‘We now prove (1). Consider the equation () Wp—sh+p=0, wherep <0. Ifall A's are equal, then s = nA, and hence p = (n — 1)28, which contradicts the assumption p <0. Thus the equation above has two distinct roots. Assume that the eigenvalues of 4 are given by aha =A and dy where Atm=s phe (n=p~uas so that (o-DA+ @—p— Dye and ay From these relations we obtain (2-0 +p = Dp If p =1, then (n —p — I)p =0, and hence n=p +1 which is not the case. Thus p # I and we obtain 2) B= —pln—p —Vi(p = 1). ‘The argument above applies to each point x of M. Sinces = trace A is differentiable and since the equation (1) has two distinct roots at each point, it follows that the two roots 4 and y are differentiable functions. From the equation (2) we conclude that 1 is a constant function (since M is connected), and so is x. It abo follows that » and n — 9 are also constant. We define two distributions A, and A, on M as follows: + A) = (Ke TUM); AX = ax} Ad(s) = (Ye T,(M); AX = pX}. We shall show that both A, and A, are differentiable and in- volutive, and that M is locally a direct product of the maximal integral manifolds M, and M, of A, and A, as a Riemannian 38 FOUNDATIONS OF DIFFERENTIAL GEOMETRY manifold. This will finish the proof, because if Y and Y are tangent to M, and M,, respectively, wehave 0 = R(X 4 Y) = AX AAY = auX 4 Y, which implies 4p = 0, contrat Ap <0. First, to prove that A, and A, are differentiable, let X,, -. +, X,, Xpuy .++, X, be differentiable vector fields such that X,, 1Si Sp), and X, p +1555 n, form a basis of A(x) and Ag(%p), respectively, at a point 2». We define vector fields Yi, ..., Y, by Y=(4-WXy 1818p, and Y,=(4-4X, p+isjsn Since (4 — A), = (A — a)(A — p)X, = 0 for 1s i's p and (A = WY, = (4 — wld — DX, = 0 for p +1 sj sn, we see that Yi, 1's iS p, belong to A, and ¥,, p +1 0.) QED. Corollary 5.4 is valid for the case n = 2 as well, but the proof is more difficult (see Note 15). Both the second fundamental form and the Gaussian curvature are closely related to the convexity of a hypersurface. A hyper- surface M in RM is saith to be conver at a point x eM if the hyperplane H, of R'+4 tangent to M at x does not separate a neighborhood of x in M into two parts. Moreover, if is the only point of a neighborhood which lies on H,, then M is said to be strictly convex at x. If, for every x € M, H, does not separate M into two parts, then M is said to be convet. Moreover, if, for every x eM, x is the only point of M which lies on H,, then M is said to be strictly convex. A convex hypersurface is always orientable. Choosing at each point x of M the unit normal vector pointed outward (i.e., to the opposite side of M with respect to H,), we obtain a continuous field of unit normal vectors. ‘We say that the second fundamental form a of a hypersurface M is definite at x6 M if a(X,X) #0 for all non-zero vectors Xe T,(M). If we choose a unit normal vector £ at x and write @ =-Aé (cf. §3), then ais definite if and only if the classical second fundamental form Ais either positive or negative defin'te. Similarly, wwe say that a is non-degenerate at x if h is non-degenerate at x. Propostrion 5.5. A hypersurface M in R** is strictly convex at 4 point x if its second fundamental form a is definite atx. Proof. Fixing the point x, we choose a Euclidean coordinate system}, ...,y"+1 for RR" such that 4y"*? = O defines the tangent space T,(M). Then y**#, considered as a function on M, is critical atx. Its Hessian at xis nothing but the second fundamental form of M at x (cf. Examples 3.3 and 3.4). If « is definite at x, then y*#, as a function on M, attains an isolated local minimum or maximum. Hence a neighborhood of x in M lies strictly in one side of the tangent hyperplane at x. QED. VII. SUBMANIFOLDS 41 Taeorem 5.6. For a connected compact hypersurface M in Ret (n & 2), the following conditions are equivalent: Fy Fee con findamel form sof Ms tafe eeyutere ox Ms (2) M is orientable and the spherical map of Gauss M —» S” is a diffeomorphism; (3) The Gaussian curvature K,, of M never vanishes on M. Moverover, any one of the conditions above implies that M is strictly concer, Proof, (1) (2). At each point x €.M we choose a unit nore mal vector £, in such a way that the classical second fundamental form h defined by a(X, ¥) = A(X, ¥)&, for X, Ye T,(M) is negative definite. Then ¢ is continuous and hence M is orientable. Ata point where a is non-degenerate, the Jacobian of the spherical map M->S" is non-degenerate (cf Example 3.5). Since M is compact, the spherical map M > S* is a covering projection by Corollary 4.7 of Chapter IV. Since S* is simply connected, the spherical map is a diffeomorphism. (2) + (3). Since the Jacobian of the spherical map Ms is non-degenerate everywhere, so is the second fundamental form (cf. Example 3.5). Hence K, # 0 everywhere. (3) + (1). Since K, #0 everywhere, a is non-degenerate everywhere. Since M is compact, there is a point x) € M such that a@(X,X) 40 forall Xe T,,(M), X40 by Proposition 4.6. Since a is definite at x, and is non-degenerate everywhere, « is definite everywhere. ‘To prove the last assertion, let x be any point of M, and choos a Euclidean coordinate system y*, .. ., y"*! of R'* such that the tangent hyperplane H, is given by 7**1 = 0 and a neighborhood of x in M lies in the region y"*? <0, Let x* be a point of M where the function y"* attains its maximum on M. Then H,. is parallel to H,, and the outward unit normal vector at x* is parallel to the cone at x (in the same direction). Since the spherical map is one-to- one, we have x* = x. Hence M — {x} lies in the region y"*" <0. QED. ‘The last assertion of Theorem 5.6 is due to Hadamard [1]. Chern and Lashof [1] proved that a compact surface in R® with Ky 2 is convex and constructed for n Z 3 a non-convex compact 42 FOUNDATIONS OF DIFFERENTIAL GEOMETRY hypersurface M in R* with K, = 0, For hypersurfaces with K, = 0orX, = 0 which are not necessarily compact, see Hartman and Nirenberg [1] and Nirenberg [3]. (See Note 15 for these and other results.) 6. Type number and rigidity Let M be a hypersurface immersed in R**, At each point x of M, the type number of M at x, denoted by t(x), is defined to be the rank of the linear transformation 4 of T.(M). Of course, it is determined independently of the choice of the field of unit normals E because A, and A, have the same rank. By Example 3.5 we know that ¢(x) is the rank of the Jacobian of the spherical map $: MS", which is at least locally defined. We shall prove Tuones 6.1. For a hypersurface M immersed in R™%, (1) (x) #50 or 1 ff and only if R = 0 at x. (2) Iftls) = 2, then t(x) =n — dim TS, where Tz = (Xe TAM); R(X, Y) = 0 for all ¥ © T{M)}. Proof. (1) If ¢(x) = 0, that is, A =0, then the equation of Gauss implies that R = 0 at x. Suppose (x) = 1. Then there is non-zero, vector We T,(M) such that for each X ¢ T,(M) we have AN = cW, where cis a scalar depending on X. The equation of Gauss again implies that R(X, ¥) = 0 for all X, ¥. Conversely, suppose that R = O atx, If¢(x) & 2, there exist a pair of non-zero veetors ¥ and Yin T,(M) such that AX = 4X, AY = pY, where 4, w# 0, and such that g(X, Y) = 0, We find that BRK, Y)Y, X) = tH, which is a contradiction to the assumption R = 0. (2) Let 73 be the null space of 4, and let T;, be the orthogonal complement of 7. Since A is symmetric, we may easily see that A maps T; onto itself in a one-to-one manner. If X ¢ 77, then the equation of Gauss implies that R(X, ¥) = 0 for all Ye T,(M), that is, Xe T?. Now assuming dim T: = ¢(x) 2 2, we prove that Ty = T?. Suppose there is an Y ¢ T# which is not in T7. Since X= X,"+ Xp where Xe 7; and ke 7] ¢ Tt, we sce that ‘VIL, SUBMANIFOLDS 43 Xe TE 9 T,, Since dim T; z 2, there exists a Ye Ti such that %, and Y are linearly independent (and so are AX, and AY). By the fquation of Gauss we have R(X, Y)AY = g(AY, AY)AX, — g(AX,, AY) AY. Since X, € T+, we have R(X,, ¥) = 0, that is, the right hand side is also equal to.0. Since g(AY, AY) + 0, this relation means that AX, and AY are linearly dependent, which is a contradiction. We have thus shown that 7; = 7. Hence ¢(x) = dim T! dim T; =n — dim Tt, completing the proof of Theorem 6. QED. Theorem 6.1 shows that, unless M is locally Euclidean, the rank of the second fundamental form is independent of an im- mersion, We shall prove that under a stronger assumption the immersion itself is unique (up to an isometry of RY), First we show that the second fundamental form is uniquely determined (up to a sign) at each point. Tueones 6.2. Let M be an redimensional Riemannian manifold and let f and f be isometric immersions of M into RM, If the type number t(x) of the immersion f at x is %3, then the second fundamental form h for f and the second fundamental form h for f coincide at x up to a sign. Proof. Let us first remark that, by virtue of Theorem 6.1, R is not 0 at x, and hence the type number /(x) for fis equal to f(x). ‘As we see from the proof of Theorem 6.1, the null space of A and the null space of 4 coincide with TS = {X; R(X, Y) = 0 for all Ye T,}. This means that in the decomposition 7,(M) = Ty + T? in that proof, 77 is the null space for A as well as for 4, and both 4 and Fmap 7 onto iuelf in one-to-one manner, This being said, consider the exterior product TA T; and introduce an inner product s such that S(XA¥, ZnW) = g(X, Z)g(¥, W) — g(X, W)g(¥, Z). ‘The equation of Gauss implies that B(R(X,Y)Z, W) = s(X a Y, AZ 0 AW) =s(X 0 ¥,4Z 9 AW). 44 FOUNDATIONS OF DIFFERENTIAL GEOMETRY Since s is positive definite on T; a T;, we have (1) AZNAW =AZNAW forall Z, We Ty We shall now prove that, for each Xe T;, AX = cAX for some ¢ (this constant ¢ may depend on X, although we shall eventually show that ¢ = 1 independently of X). Since AX # 0 for X #0. it is sufficient to show that AX and AX are linearly dependent, Suppose that they are linearly independent so that AX a AX # 0. Since dim T? = i{x) 2 3 by assumption, we may choose a Ye T! such that AX, 4X, AY are linearly independent (and hence AX NAY NAX #0). By property (I), we have AXAAY = AX AAY so that AX » AY 4 AX = AX » AY 2 AX = 0, which is a contradiction. This proves our assertion that AY = cAX for some c. Let X,,..., X, bea basis in 77, There exist c,,...,¢-such that AX, = cAX, for 1 Sir. At the same time, A(X, + X,) = A(X, + X,) for some c. We have then A(X, +X) = AX, + AX, (AX, + AX). For any i#j, 1 g(Z, X) — @(Z*, [% ¥]) = e(VxZ", ¥) — e(VyZ", X). Hence da? = 0 if and only if 8(V x2", Y) = aX V2") 50 FOUNDATIONS OF DIFFERENTIAL GEOMETRY for all vector fields X, Y. since this last condition is indeed satisfied, a(VxZ?, ¥) = g(GAX, ¥) = eX, SAY) = a(X, VyZ") by virtue of (5) and of the symmetry of A. In Lemma 2 it is clear that, given any point, say, 94 in R™, we may choose an isometry f which maps x, upon yp. ‘Thus it follows that in order to prove the existence of an isometric imbedding in ‘Theorem 7.1 it is sufficient to prove that the system of equations (5) and (6) have a solution with any arbitrary initial conditions. The uniqueness follows from the uniqueness of the solution of (5) and (6) with a preassigned initial condition, which is almost obvious. We shall now prove Lenoma 3. Let xy be a point of M and let U be a neighborhood with normal coordinates , «2%, |x!

    You might also like