Differential geometry for general relativity
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Assumed Prerequisites
These sample courses assume the background shown in the example. Use the linked pages to check your foundations. Abstract algebra is not required for either path.
Real Analysis Math library
Suggested Curriculum
Begin with the bridge from single-variable analysis to smooth geometry: multivariable differentiation, local inversion and coordinate charts. Then develop tangent spaces, covectors and tensor fields, keeping the distinction between a geometric object and its coordinate components explicit. Worked examples make each new definition concrete.
Next study metrics, connections, geodesics and curvature before entering the Lorentzian setting of general relativity. The final level links the mathematical constructions to free fall, tidal effects and Einstein’s equation. Riemannian results are identified as such; the course does not transfer positive-definite conclusions to spacetime without checking their hypotheses.
Multivariable differentiation
Replace a single slope with a linear map.
The total derivative is a linear approximation to a map between Euclidean spaces. Its Jacobian records components, and the chain rule describes composition. Directional derivatives alone need not establish total differentiability. The examples make the distinction explicit.
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- Math · DefinitionA linear map L:ℝᵐ→ℝⁿ in Euclidean coordinates ↗
- Math · DefinitionA convex subset of ℝᵐ contains every line segment between two of its points ↗
- Math · DefinitionDirectional derivatives and partial derivatives of a map U⊆ℝᵐ→ℝⁿ ↗
- Math · DefinitionThe total (Fréchet) derivative Df(a) as the linear first-order approximation with o(‖h‖₂) remainder ↗
- Math · TheoremTotal differentiability gives a local O(‖h‖₂) increment bound and therefore continuity ↗
- Math · DefinitionThe Jacobian matrix of partial derivatives and the gradient in the scalar-valued case ↗
- Math · TheoremA total derivative computes every directional derivative, and its matrix is the Jacobian ↗
- Math · TheoremFor a differentiable scalar field, Dᵥf(a)=⟨∇ f(a),v⟩ and the unit direction of steepest ascent is the normalized gradient ↗
- Math · TheoremSums and scalar multiples of totally differentiable maps are totally differentiable with the expected derivatives ↗
- Math · TheoremThe chain rule for total derivatives: D(g∘ f)(a)=Dg(f(a))∘ Df(a) ↗
- Math · TheoremIf all partial derivatives exist on a neighbourhood and are continuous at a point, then the map is totally differentiable there with Jacobian derivative ↗
- Math · TheoremOn a convex open set, a uniform bound ‖Df(z)v‖₂≤ M‖v‖₂ implies ‖f(y)-f(x)‖₂≤ M‖y-x‖₂ ↗
Explain the difference between having all partial derivatives and being totally differentiable.
Local inversion & implicit equations
Recognize when equations give local coordinates.
The inverse function theorem supplies a smooth local inverse when the derivative is invertible. The implicit function theorem solves suitable equations for selected variables. Both are local conclusions with regularity assumptions. Test those assumptions in the examples.
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State an inverse-function theorem and identify its local invertibility hypothesis.
Smooth manifolds
Use compatible charts to define smoothness.
A smooth manifold is locally Euclidean with compatible smooth coordinate charts. Transition maps let smoothness be defined independently of a chosen chart. Smooth maps and diffeomorphisms then compare manifolds. The examples explain why one coordinate singularity need not be a geometric singularity.
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- Math · DefinitionTopological manifolds without boundary: Hausdorff, second-countable, and locally Euclidean spaces ↗
- Math · DefinitionManifold charts, coordinate domains, and coordinate functions ↗
- Math · DefinitionSmoothly compatible charts and the smoothness of Euclidean transition maps ↗
- Math · DefinitionSmooth atlases ↗
- Math · DefinitionSmooth manifolds and their smooth charts ↗
- Math · DefinitionCʳ and smooth maps between smooth manifolds ↗
- Math · TheoremEach smooth atlas is contained in a unique maximal smooth atlas ↗
Describe two overlapping charts on a sphere and explain their compatibility.
Tangent vectors & the differential
Carry infinitesimal directions between points.
Tangent vectors admit compatible descriptions using curves and derivations. A smooth map induces a differential on tangent spaces; covectors act linearly on tangent vectors. Tangent and cotangent bundles collect these spaces smoothly over the manifold. Check their coordinate descriptions in the examples.
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- Math · TheoremCoordinate derivations form a basis of the tangent space ↗
- Math · TheoremCurve contact classes are canonically isomorphic to derivation tangent vectors ↗
- Math · TheoremAssuming countable choice, the tangent bundle has a canonical smooth 2n-manifold structure ↗
- Math · TheoremAssuming countable choice, the cotangent bundle has a canonical smooth 2n-manifold structure ↗
Compute a differential in coordinates and explain how it acts on a tangent vector.
Tensor fields & forms
Build coordinate-independent multilinear quantities.
Tensor fields vary multilinear data smoothly over a manifold. Tensor products and contraction create new tensors, while alternating covariant tensors give differential forms. The wedge product supplies their graded algebra. Use the examples to distinguish a tensor from its coordinate components.
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- Math · DefinitionA type (r,s) tensor on a finite-dimensional vector space ↗
- Math · DefinitionThe tensor product of multilinear tensors ↗
- Math · DefinitionA smooth tensor field ↗
- Math · DefinitionAlternating k-covectors ↗
- Math · DefinitionA smooth differential k-form ↗
- Math · DefinitionThe wedge product of differential forms ↗
- Math · TheoremThe wedge product is associative and graded commutative ↗
Explain how a differential two-form acts on two tangent vectors.
Vector fields & flows
Connect infinitesimal directions with local motion.
A vector field assigns tangent vectors smoothly. Its local flow solves the associated differential equation, and the flow-box theorem describes nonvanishing fields in adapted coordinates. Lie derivatives compare objects under this motion. Work through the examples before interpreting a flow globally.
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- Math · DefinitionA smooth vector field is a smooth section of the tangent bundle ↗
- Math · DefinitionIntegral curves of a vector field ↗
- Math · DefinitionLocal and global flows generated by a vector field ↗
- Math · TheoremThe fundamental theorem on flows ↗
- Math · TheoremThe flow-box theorem ↗
State what the local flow theorem guarantees and explain why global existence needs more.
Riemannian metrics
Measure lengths, distances and volumes.
A Riemannian metric is a smoothly varying positive-definite inner product. It defines curve lengths and an induced distance whose topology agrees with the manifold topology. Volume and divergence add integration to this geometry. The examples prepare the later comparison with Lorentzian metrics.
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- Math · TheoremThe riemannian distance topology is the manifold topology ↗
- Math · TheoremRiemannian divergence theorem ↗
- Math · TheoremHodge star is a smooth bundle isomorphism ↗
Explain which metric hypothesis makes Riemannian length positive.
Connections & parallel transport
Differentiate fields while respecting the geometry.
A connection differentiates sections and defines parallel transport along curves. Metric compatibility and zero torsion characterize the Levi–Civita connection. The fundamental theorem of Riemannian geometry establishes existence and uniqueness. Check the difference between connection coefficients and geometric objects in the examples.
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- Math · DefinitionConnection on a smooth vector bundle ↗
- Math · DefinitionCovariant derivative along a curve ↗
- Math · DefinitionParallel transport along a piecewise smooth curve ↗
- Math · DefinitionTorsion tensor of an affine connection ↗
- Math · DefinitionLevi civita connection ↗
- Math · TheoremExistence and uniqueness of parallel sections ↗
- Math · TheoremFundamental theorem of riemannian geometry ↗
Explain the two properties that determine the Levi–Civita connection.
Geodesics & the exponential map
Study curves with zero covariant acceleration.
A geodesic has parallel velocity along itself. Local existence and uniqueness turn initial tangent vectors into curves, and the exponential map records their endpoints. Normal neighborhoods give a local geometric model. Riemannian completeness and Hopf–Rinow have additional hypotheses that must not be transferred uncritically to spacetime. Use the examples to test those distinctions.
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- Math · DefinitionGeodesic of an affine connection ↗
- Math · TheoremExistence uniqueness and smooth dependence of geodesics ↗
- Math · DefinitionDomain and exponential map of a connection ↗
- Math · TheoremExistence of normal neighborhoods ↗
- Math · DefinitionGeodesically complete Riemannian manifold ↗
- Math · TheoremGauss lemma ↗
- Math · TheoremHopf–Rinow theorem ↗
Separate local geodesic existence from geodesic completeness.
Riemannian curvature
Recognize intrinsic geometry through curvature.
Curvature measures a failure of covariant derivatives to commute. Curvature identities and submanifold formulas connect intrinsic and ambient descriptions. Gauss’s Theorema Egregium identifies the intrinsic nature of surface curvature. The examples distinguish a curved surface from a flat coordinate description.
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- Math · DefinitionCurvature of an affine connection ↗
- Math · TheoremCurvature is a type (1,3) tensor ↗
- Math · DefinitionRiemann curvature four-tensor ↗
- Math · DefinitionSectional curvature ↗
- Math · DefinitionInduced connection and second fundamental form ↗
- Math · TheoremGauss equation for a Riemannian submanifold ↗
- Math · TheoremGauss’s Theorema Egregium ↗
Explain the geometric content of Gauss’s Theorema Egregium.
Lorentzian spacetime
State the geometric objects and assumptions of the model.
The relativity framework uses a smooth time-oriented Lorentzian four-manifold. Its nondegenerate metric has indefinite signature, introducing causal distinctions absent from positive-definite geometry. Inverse metrics and tensor operations support the physical model’s fields. The examples clarify which statements belong to this framework.
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- Physics · DefinitionSmooth covariant 2-tensor fields on a smooth manifold ↗
- Physics · DefinitionSmooth time-oriented Lorentzian four-manifolds: the geometric objects of the model ↗
- Physics · DefinitionThe inverse metric, musical isomorphisms and index raising ↗
- Physics · DefinitionMetric compatibility, torsion freedom and the metric-selected connection class ↗
- Physics · DefinitionStress-energy tensor field of a model ↗
Explain why a Lorentzian metric changes the meaning of lengths and causal directions.
Free fall & proper time
Describe test-body motion within the model.
Proper time and free fall connect timelike curves with the metric-selected connection. Geodesic initial data determine local trajectories, and Lorentzian normal-coordinate results describe local geometry. A physics theorem about ideal test bodies also depends on its model premises. Check the examples against those premises.
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- Physics · DefinitionTimelike worldlines, proper time, length and four-velocity on a Lorentzian four-manifold ↗
- Physics · TheoremExistence and uniqueness of the metric-selected connection of a nondegenerate metric, and its extension to tensor fields ↗
- Physics · TheoremThe geodesic initial-value problem and the exponential map of the metric-selected connection ↗
- Physics · TheoremPoint-normal and exponential coordinate charts of the metric-selected connection ↗
- Physics · Physics theoremThe free-fall worldline of an ideal test body is determined by its initial event and four-velocity ↗
Explain the initial data needed for an ideal freely falling trajectory.
Curvature & tidal effects
Connect spacetime curvature to relative acceleration.
The curvature tensors organize local spacetime geometry. The Bianchi identity constrains the Einstein tensor, and the Jacobi equation describes relative acceleration in geodesic families. The tidal interpretation uses the free-fall model. Work through the examples to distinguish a coordinate effect from a tidal effect.
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- Physics · DefinitionThe Riemann curvature operator and the derived Ricci, scalar and Einstein tensors ↗
- Physics · TheoremThe algebraic symmetries of the curvature tensor and the symmetry of the Ricci and Einstein tensors ↗
- Physics · TheoremThe second Bianchi identity and the vanishing divergence of the Einstein tensor ↗
- Physics · DefinitionJacobi fields, geodesic variations and conjugate instants along a geodesic ↗
- Physics · TheoremThe Jacobi equation, geodesic deviation and the initial-value theory of Jacobi fields ↗
- Physics · Physics theoremFree-fall congruences, tidal (curvature) relative acceleration and the flat comparison ↗
Distinguish nonzero connection coefficients from nonzero tidal curvature.
Einstein’s equation & matter
Connect the geometric framework with its field law.
Einstein’s equation relates curvature to stress–energy in the adopted classical gravitational model. Variational constructions identify the equation from an action; conservation identities and matter models then constrain its interpretation. The examples keep mathematical deductions distinct from the empirical validation of the physical framework.
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- Physics · DefinitionThe Hilbert stress-energy tensor of a metric-dependent action ↗
- Physics · TheoremFirst variation of the Einstein-Hilbert density under compactly supported metric variations, and of the timelike length functional ↗
- Physics · DefinitionKilling fields of a Lorentzian metric ↗
- Physics · TheoremKilling fields and conserved currents, and on-shell conservation of the Hilbert stress-energy tensor ↗
- Physics · DefinitionThe perfect-fluid matter model: rest energy density, pressure, four-velocity and stress-energy ↗
- Physics · Physics theoremStationarity of the adopted total action is equivalent to the Einstein equation with the framework's coupling ↗
- Physics · Physics theoremConsistency conditions of the adopted field law: conservation, trace, parameter variation and the energy conditions of a perfect fluid ↗
Explain the roles of curvature, stress–energy and the model assumptions in Einstein’s equation.