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A C² product coordinate on a planar period annulus

Statement

Let X be a C2 vector field on an open subset of R2, and let A be an open annulus saturated by X on which X is nowhere zero and every orbit is a simple periodic curve. Assume these periodic curves are strictly nested Jordan curves with a consistent orientation. Then there are an interval I=(0,1) and a C2 diffeomorphism Ψ:S1×I→A taking each circle S1×{s} onto one orbit and a positive C2 function a:I→(0,∞) such that X=a(s)∂θ in these coordinates. The coordinate may be chosen to increase from the inner end to the outer end of the annulus.

Facts & Assumptions

Given: A C2 vector field X on an open set containing the open annulus A, on which X is nowhere zero, every orbit is a simple periodic curve, the periodic curves are strictly nested Jordan curves, and their boundary orientations agree.

[F1]

If Y is C1 on an open U⊆Rn, its maximal flow is jointly C1 with a C1 flow box at each regular point; if Y is C2 the flow and those boxes are C2; individual trajectories of a C1 field are C2 in time; and a trajectory remaining in a compact subset of U has no finite maximal endpoint (C¹ Euclidean maximal flows, variational dependence and the finite C² upgrade).

[F2]

A C2 map between open subsets of Rn with invertible derivative at a point has a C2 local inverse; and if g(s,t) is C2 near (s0,t0) with g(s0,t0)=0 and gt(s0,t0)≠0, then there is a unique local C2 root t=T(s), with T′=−gs/gt and T′′=−(gss+2gstT′+gtt(T′)2)/gt (C² inverses and scalar return roots).

[F3]

Closed and bounded subsets of R2 are compact; a decreasing nested family of nonempty compact subsets has nonempty intersection; a continuous real function on a nonempty compact set attains its maximum and minimum (Heine-Borel in Rn: with the Euclidean metric a subset of Rn is compact if and only if it is closed and bounded, and the proof by bisection uses no choice principle; the same holds on the real line).

[F6]

A topological embedding c:S1→R2 that is piecewise C2 with finitely many corners, each with two distinct one-sided tangent rays and regular edges, has a complement with exactly two connected components, one bounded and one unbounded (A finitely cornered regular plane curve separates without choice).

Proof

technique · direct
1.1givenF1F6

Let J be the quarter-turn J(u1,u2)=(−u2,u1) and set Z=±JX with the sign chosen so that Z crosses each orbit from its bounded Jordan domain to the exterior; at a fixed orbit the crossing sense of Z is a continuous nowhere-zero directional datum along the compact orbit and the consistent orientation hypothesis keeps its sign fixed, while the sense depends locally constantly on the orbit and the orbit family is connected, so one global sign makes every crossing of every orbit by Z outward; hence Z is a nowhere-zero C2 field on A transverse to X.

2.1step 1.1F6

Fix x0∈A and let σ:(t−,t+)→A be the maximal Z-trajectory with σ(0)=x0; then σ crosses each orbit at most once: if t1<t2 were consecutive crossing times of one orbit C and σ([t1,t2]) avoided C, that connected arc would lie in one component of R2∖C by [F6], yet outward crossings at t1 and t2 put the points just after t1 and just before t2 on opposite sides of C, a contradiction.

3.1step 2.1F6

All orbits lying strictly between two orbits crossed by σ are crossed: if C1 is inside C2 and σ(t1)∈C1, σ(t2)∈C2, then σ(t1) lies in the bounded component of R2∖C and σ(t2) in the unbounded one for every orbit C between them, so the connected arc σ([t1,t2]) cannot avoid C and some intermediate time lies on C.

4.1F1F2F3step 1.1step 2.1step 3.1

The crossed orbits exhaust A. First each orbit C has a local period tube: a short local Z-trajectory through a point of C, which meets each orbit at most once by the argument of step 2.1, and the C2 flow give a first-return map near its least period by [F2]; compactness of one traversal excludes returns away from the endpoints. The returned point lies on the same periodic orbit and on that local section, which meets every orbit at most once. Thus the return point is the initial point. Thus the nearby return time gives a C2 circle product, with a transverse leaf coordinate r. On a smaller closed tube the outward transverse field satisfies Zr≥c>0 by compactness. By step 3.1 the crossed family is order-convex; if it stopped at an orbit C inside A, the section would eventually lie in such a tube on the inner side of C. It cannot leave through that side because Zr>0, and the bound Zr≥c forces it to reach C in finite time. Compact flow continuation from [F1] excludes an earlier maximal endpoint. The reversed argument treats an inner stopping orbit. Hence every orbit is crossed once.

5.1step 4.1F1

The maximal trajectory σ is C2, and after composing its parameter with one explicit increasing C2 diffeomorphism of its open time interval onto (0,1) (affine when both ends are finite, and an arctan-type explicit map when an end is infinite) the section may be written σ:(0,1)→A, is still C2, and meets every orbit exactly once with the parameter increasing from the inner to the outer end.

6.1step 5.1F1F2F3

For each s the orbit of σ(s) is a simple periodic curve of a nowhere-zero field, so its period set is a closed additive subgroup of R whose discreteness gives a least positive period T(s); fixing s0 and a C2 flow box at σ(s0) with X=∂y and the section near σ(s0) a graph y=η(x), the function F(s,t):=y(s,t)−η(x(s,t)), built from the jointly C2 flow of the C2 field, is C2 with F(s0,T(s0))=0 and Ft(s0,T(s0))=1, so [F2] gives a unique local C2 return time T(s) near s0; for s near s0 no smaller positive return occurs, because the trajectory of σ(s) stays uniformly close to the reference orbit on the compact time interval [δ,T(s0)−δ] and avoids the section there by [F1] and [F3], while inside the flow box the section is met only at t=0; hence T is C2 on all of (0,1).

7.1step 6.1F1F2

Define Ψ(θ,s):=ΦθT(s)/(2π)X(σ(s)) on S1×(0,1); it is C2 and 2π-periodic in θ, and it is bijective because every orbit meets σ exactly once and θ modulo 2π parametrizes that orbit once; its columns ∂θΨ=T(s)X(Ψ)/(2π) and ∂sΨ, the latter being a scalar multiple of X plus the pushforward DΦθT(s)/(2π)X[Z(σ(s))] of the transverse vector Z(σ(s)), are everywhere independent because a time slice of the flow is a linear isomorphism carrying the line spanned by X onto the line spanned by X; so DΨ is invertible everywhere, [F2] gives C2 local inverses, and they agree globally by bijectivity, making Ψ a C2 diffeomorphism onto A.

8.1step 7.1F2∎

Since ∂θΨ=T(s)X(Ψ(θ,s))/(2π), the pushforward satisfies Ψ∗−1X=a(s)∂θ with a(s)=2π/T(s)>0 of class C2 on (0,1); the section parameter increases from the inner to the outer end by construction, and the argument used one specified initial point, finitely many flow boxes and compactness arguments and the explicit reparametrization, hence no choice principle, so A, X, Ψ and a have all the asserted properties.

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