Differentiable Manifolds A Theoretical Physics

Approach 1st Edition Gerardo F. Torres Del Castillo

(Auth.) updated 2025

https://ebookfinal.com/download/differentiable-manifolds-a-
theoretical-physics-approach-1st-edition-gerardo-f-torres-del-
castillo-auth/

★★★★★
4.8 out of 5.0 (16 reviews )

PDF Available Immediately

ebookfinal.com
 Differentiable Manifolds A Theoretical Physics Approach 1st
Edition Gerardo F. Torres Del Castillo (Auth.) Pdf Download

EBOOK

Available Formats

■ PDF eBook Study Guide Ebook

EXCLUSIVE 2025 ACADEMIC EDITION – LIMITED RELEASE

Available Instantly Access Library

We have selected some products that you may be interested in
Click the link to download now or visit ebookfinal.com
for more options!.

Obstacles to Peacebuilding 1st Edition Graciana Del

Castillo

https://ebookfinal.com/download/obstacles-to-peacebuilding-1st-
edition-graciana-del-castillo/

World War II and Mexican American Civil Rights Richard

Griswold Del Castillo

https://ebookfinal.com/download/world-war-ii-and-mexican-american-
civil-rights-richard-griswold-del-castillo/

A Career In Theoretical Physics 2nd Edition P. W. Anderson

https://ebookfinal.com/download/a-career-in-theoretical-physics-2nd-
edition-p-w-anderson/

Chemistry Physics Of Carbon Volume 29 Chemistry and

Physics of Carbon 1st Edition Ljubisa R. Radovic

https://ebookfinal.com/download/chemistry-physics-of-carbon-
volume-29-chemistry-and-physics-of-carbon-1st-edition-ljubisa-r-
radovic/
Mastering D3 js 1st Edition Pablo Navarro Castillo
[Castillo

https://ebookfinal.com/download/mastering-d3-js-1st-edition-pablo-
navarro-castillo-castillo/

Understanding Communication Research Methods A Theoretical

and Practical Approach 1st Edition Stephen M. Croucher

https://ebookfinal.com/download/understanding-communication-research-
methods-a-theoretical-and-practical-approach-1st-edition-stephen-m-
croucher/

Vagabond Vol 29 29 Inoue

https://ebookfinal.com/download/vagabond-vol-29-29-inoue/

Theoretical Nuclear And Subnuclear Physics 2nd Edition

John Dirk Walecka

https://ebookfinal.com/download/theoretical-nuclear-and-subnuclear-
physics-2nd-edition-john-dirk-walecka/

Active Physics A project based inquiry approach 3rd

Edition A. Eisenkraft

https://ebookfinal.com/download/active-physics-a-project-based-
inquiry-approach-3rd-edition-a-eisenkraft/
Differentiable Manifolds A Theoretical Physics Approach
1st Edition Gerardo F. Torres Del Castillo (Auth.) Digital
Instant Download
Author(s): Gerardo F. Torres del Castillo (auth.)
ISBN(s): 9780817682705, 0817682708
Edition: 1
File Details: PDF, 1.45 MB
Year: 2012
Language: english
Gerardo F. Torres del Castillo

Differentiable
Manifolds

A Theoretical Physics Approach

Gerardo F. Torres del Castillo
Instituto de Ciencias
Universidad Autónoma de Puebla
Ciudad Universitaria
72570 Puebla, Puebla, Mexico
[email protected]

ISBN 978-0-8176-8270-5 e-ISBN 978-0-8176-8271-2

DOI 10.1007/978-0-8176-8271-2
Springer New York Dordrecht Heidelberg London

Library of Congress Control Number: 2011939950

Mathematics Subject Classification (2010): 22E70, 34C14, 53B20, 58A15, 70H05

© Springer Science+Business Media, LLC 2012

All rights reserved. This work may not be translated or copied in whole or in part without the written
permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York,
NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in
connection with any form of information storage and retrieval, electronic adaptation, computer software,
or by similar or dissimilar methodology now known or hereafter developed is forbidden.
The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are
not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject
to proprietary rights.

Printed on acid-free paper

Springer is part of Springer Science+Business Media (www.birkhauser-science.com)

Preface

The aim of this book is to present in an elementary manner the basic notions related
with differentiable manifolds and some of their applications, especially in physics.
The book is aimed at advanced undergraduate and graduate students in physics and
mathematics, assuming a working knowledge of calculus in several variables, linear
algebra, and differential equations. For the last chapter, which deals with Hamilto-
nian mechanics, it is useful to have some previous knowledge of analytical mechan-
ics. Most of the applications of the formalism considered here are related to dif-
ferential equations, differential geometry, and Hamiltonian mechanics, which may
serve as an introduction to specialized treatises on these subjects.
One of the aims of this book is to emphasize the connections among the areas of
mathematics and physics where the formalism of differentiable manifolds is applied.
The themes treated in the book are somewhat standard, but the examples developed
here go beyond the elementary ones, trying to show how the formalism works in
actual calculations. Some results not previously presented in book form are also in-
cluded, most of them related to the Hamiltonian formalism of classical mechanics.
Whenever possible, coordinate-free definitions or calculations are presented; how-
ever, when it is convenient or necessary, computations using bases or coordinates
are given, not underestimating their importance.
Throughout the work there is a collection of exercises, of various degrees of
difficulty, which form an essential part of the book. It is advisable that the reader
attempt to solve them and to fill in the details of the computations presented in the
book.
The basic formalism is presented in Chaps. 1 and 3 (differentiable manifolds,
differentiable mappings, tangent vectors, vector fields, and differential forms), after
which the reader, if interested in applications to differential geometry and general
relativity, can continue with Chaps. 5 and 6 (even though in the definitions of a
Killing vector field and of the divergence of a vector field given in Chap. 6, the
definition of the Lie derivative, presented in Chap. 2, is required). Chapter 7 deals
with Lie groups and makes use of concepts and results presented in Chap. 2 (one-
parameter groups and Lie derivatives). Chapters 2 and 4 are related with differential
equations and can be read in an independent form, after Chaps. 1 and 3. Finally,

v
vi Preface

for Chap. 8, which deals with Hamiltonian mechanics, the material of Chaps. 1, 2,
and 3, is necessary and, for some sections, Chaps. 6 and 7 are also required.
Some of the subjects not treated here are the integration of differential forms,
cohomology theory, fiber bundles, complex manifolds, manifolds with boundary,
and infinite-dimensional manifolds.
This book has been gradually developed starting from a first version in Spanish
(with the title Notas sobre variedades diferenciables) written around 1981, at the
Centro de Investigación y de Estudios Avanzados del IPN, in Mexico, D.F. The
previous versions of the book have been used by the author and some colleagues in
courses addressed to advanced undergraduate and graduate students in physics and
mathematics.
I would like to thank Gilberto Silva Ortigoza, Merced Montesinos, and the re-
viewers for helpful comments, and Bogar Díaz Jiménez for his valuable help with
the figures. I also thank Jessica Belanger, Tom Grasso, and Katherine Ghezzi at
Birkhäuser for their valuable support.
Puebla, Puebla, Mexico Gerardo F. Torres del Castillo
Contents

1 Manifolds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Differentiable Manifolds . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 The Tangent Space . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Vector Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.4 1-Forms and Tensor Fields . . . . . . . . . . . . . . . . . . . . . . 21
2 Lie Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.1 One-Parameter Groups of Transformations and Flows . . . . . . . 29
2.2 Lie Derivative of Functions and Vector Fields . . . . . . . . . . . . 39
2.3 Lie Derivative of 1-Forms and Tensor Fields . . . . . . . . . . . . 42
3 Differential Forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.1 The Algebra of Forms . . . . . . . . . . . . . . . . . . . . . . . . 49
3.2 The Exterior Derivative . . . . . . . . . . . . . . . . . . . . . . . 55
4 Integral Manifolds . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1 The Rectification Lemma . . . . . . . . . . . . . . . . . . . . . . 67
4.2 Distributions and the Frobenius Theorem . . . . . . . . . . . . . . 71
4.3 Symmetries and Integrating Factors . . . . . . . . . . . . . . . . . 83
5 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.1 Covariant Differentiation . . . . . . . . . . . . . . . . . . . . . . 93
5.2 Torsion and Curvature . . . . . . . . . . . . . . . . . . . . . . . . 100
5.3 The Cartan Structural Equations . . . . . . . . . . . . . . . . . . . 104
5.4 Tensor-Valued Forms and Covariant Exterior Derivative . . . . . . 110
6 Riemannian Manifolds . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6.1 The Metric Tensor . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6.2 The Riemannian Connection . . . . . . . . . . . . . . . . . . . . . 131
6.3 Curvature of a Riemannian Manifold . . . . . . . . . . . . . . . . 142
6.4 Volume Element, Divergence, and Duality of Differential Forms . . 149
6.5 Elementary Treatment of the Geometry of Surfaces . . . . . . . . 154

vii
viii Contents

7 Lie Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

7.1 Basic Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
7.2 The Lie Algebra of the Group . . . . . . . . . . . . . . . . . . . . 166
7.3 Invariant Differential Forms . . . . . . . . . . . . . . . . . . . . . 177
7.4 One-Parameter Subgroups and the Exponential Map . . . . . . . . 184
7.5 The Lie Algebra of the Right-Invariant Vector Fields . . . . . . . . 190
7.6 Lie Groups of Transformations . . . . . . . . . . . . . . . . . . . 192
8 Hamiltonian Classical Mechanics . . . . . . . . . . . . . . . . . . . . 201
8.1 The Cotangent Bundle . . . . . . . . . . . . . . . . . . . . . . . . 201
8.2 Hamiltonian Vector Fields and the Poisson Bracket . . . . . . . . . 205
8.3 The Phase Space and the Hamilton Equations . . . . . . . . . . . . 211
8.4 Geodesics, the Fermat Principle, and Geometrical Optics . . . . . 218
8.5 Dynamical Symmetry Groups . . . . . . . . . . . . . . . . . . . . 224
8.6 The Rigid Body and the Euler Equations . . . . . . . . . . . . . . 236
8.7 Time-Dependent Formalism . . . . . . . . . . . . . . . . . . . . . 245
Appendix A Lie Algebras . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Appendix B Invariant Metrics . . . . . . . . . . . . . . . . . . . . . . . 257
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Chapter 1
Manifolds

The basic objective of the theory of differentiable manifolds is to extend the appli-
cation of the concepts and results of the calculus of the Rn spaces to sets that do not
possess the structure of a normed vector space. The differentiability of a function
of Rn to Rm means that around each interior point of its domain the function can
be approximated by a linear transformation, but this requires the notions of linearity
and distance, which are not present in an arbitrary set.
The essential idea in the definition of a manifold should already be familiar from
analytic geometry, where one represents the points of the Euclidean plane by a pair
of real numbers (e.g., Cartesian or polar coordinates). Roughly speaking, a manifold
is a set whose points can be labeled by coordinates.
In this chapter and the following three, the basic formalism applicable to any
finite-dimensional manifold is presented, without imposing any additional structure.
In Chaps. 5 and 6 we consider manifolds with a connection and a metric tensor,
respectively, which are essential in differential geometry.

1.1 Differentiable Manifolds

Let M be a set. A chart (or local chart) on M is a pair (U, φ) such that U is a subset
of M and φ is a one-to-one map from U onto some open subset of Rn (see Fig. 1.1).
A chart on M is also called a coordinate system on M. Defining a chart (U, φ) on
a set M amounts to labeling each point p ∈ U by means of n real numbers, since
φ(p) belongs to Rn , and therefore consists of n real numbers that depend on p; that
is, φ(p) is of the form
! "
φ(p) = x 1 (p), x 2 (p), . . . , x n (p) . (1.1)

This relation defines the n functions x 1 , x 2 , . . . , x n , which will be called the coordi-
nate functions or, simply coordinates, associated with the chart (U, φ). The fact that
φ is a one-to-one mapping ensures that two different points of U differ, at least, in
the value of one of the coordinates.

G.F. Torres del Castillo, Differentiable Manifolds, 1

DOI 10.1007/978-0-8176-8271-2_1, © Springer Science+Business Media, LLC 2012
2 1 Manifolds

Fig. 1.1 A coordinate system in a set M; with the aid of φ, each point of U corresponds to some
point of Rn . The image of U under φ must be an open subset of some Rn

We would also like close points to have close coordinates, but that requires some
notion of nearness in M, which can be given by the definition of a distance be-
tween points of M or, more generally, by assigning a topology to M. We are not
assuming that the reader is acquainted with the basic concepts of topological spaces
and in most applications we will be dealing with sets possessing a natural notion of
nearness (see, however, the comment after Exercise 1.2). Hence, we shall not make
use of the concepts required for an adequate general discussion. For a more rigorous
treatment see, e.g., Crampin and Pirani (1986), Conlon (2001), Boothby (2002), and
Lee (2002).
These concepts have many applications in physics. For instance, if M is the con-
figuration space of a mechanical system with n degrees of freedom, a choice of the
so-called generalized coordinates is equivalent to the definition of a chart on M;
when M is the set of equilibrium states of a thermodynamical system, the coordi-
nates associated with a chart on M are, typically, the pressure, the temperature, and
the volume of the system.
The coordinates associated with any chart (U, φ) must be functionally inde-
pendent among themselves, since the definition of a chart requires that φ(U )
(≡ {φ(p) | p ∈ U }) be an open subset of Rn . If, for instance, the coordinate x n
could be expressed as a function of x 1 , x 2 , . . . , x n−1 , then the points φ(p) (p ∈ U )
would lie in a hypersurface of Rn , which is not an open subset of Rn .
Frequently, a chart (U, φ) on M will not cover all of M, that is, U will be a
proper subset of M; moreover, it is possible that a given set M cannot be covered
by a single chart, as in the case of the circle or the sphere, where at least two charts
are necessary to cover all the points of M (see the examples below). Hence, in order
to cover all of M, it may be necessary to define two or more charts and, possibly,
some points of M will lie in the domain of more than one chart.
A function F : Rn → Rm given by F (q) = (f1 (q), f2 (q), . . . , fm (q)) is differ-
entiable of class C k if the real-valued functions f1 , f2 , . . . , fm have kth continuous
partial derivatives; two charts on M, (U, φ) and (V , χ) , are said to be C k -related (or
C k -compatible) if U ∩ V = ∅ (the empty set), or if φ ◦ χ −1 : χ(U ∩ V ) → φ(U ∩ V )
and χ ◦ φ −1 : φ(U ∩ V ) → χ(U ∩ V ), whose domains are open in Rn , are dif-
1.1 Differentiable Manifolds 3

Fig. 1.2 Two coordinate systems whose domains have a nonempty intersection. A point p belong-
ing to U ∩ V corresponds to two points of Rn , φ(p) and χ (p); the charts (U, φ) and (V , χ) are
C k -related if the maps φ(p) (→ χ (p) and χ (p) (→ φ(p) are differentiable functions of class C k

ferentiable of class C k (see Fig. 1.2). If x 1 , x 2 , . . . , x n are the coordinates as-

sociated to (U, φ) and y 1 , y 2 , . . . , y n are the coordinates associated to (V , χ) ,
the fact that (U, φ) and (V , χ) be C k -related amounts to the fact that, for all
p ∈ U ∩ V , y 1 (p), y 2 (p), . . . , y n (p) be differentiable functions of class C k of
x 1 (p), x 2 (p), . . . , x n (p), and conversely.
A C k subatlas on M is a collection of charts on M, {(Ui , φi )}, such that for any
pair of indices i, j , (Ui , φi ) and (Uj , φj ) are C k -related and M = U1 ∪ U2 ∪ · · · (so
that each point of M is in the domain of at least one chart). The collection of all the
charts C k -related with the charts of a C k subatlas, on M, form a C k atlas on M.

Definition 1.1 A C k manifold of dimension n is a set M with a C k atlas; if k ≥ 1, it

is said that M is a differentiable manifold. If k = 0, it is said that M is a topological
manifold.

In the space Rn , the pair (Rn , id) (where id denotes the identity map) is a chart
that, by itself, forms a C ∞ subatlas. The infinite collection of all the coordinate sys-
tems C ∞ -related with this chart form a C ∞ atlas with which Rn is a C ∞ manifold
of dimension n. When we consider Rn as a differentiable manifold, it is understood
that this is its atlas.
For instance, the usual polar coordinates of the Cartesian plane belong to the atlas
of R2 ; one can readily verify that the pair (V , χ) , with V = {(x, y) ∈ R2 | x > 0} and
!# "
χ(x, y) = x 2 + y 2 , arctan y/x

is a chart on R2 with χ(V ) = (0, ∞) × (−π/2, π /2), which is an open set in R2 .

Taking
$ (U, φ) = (R2 , id), one readily verifies that (χ ◦ φ −1 )(x, y) = χ(x, y) =
( x 2 + y 2 , arctan y/x) and (φ ◦ χ −1 )(r, θ) = χ −1 (r, θ) = (r cos θ, r sin θ ) are dif-
ferentiable of class C ∞ in φ(U ∩ V ) = V and χ(U ∩ V ) = χ(V ) = (0, ∞) ×
(−π/2, π /2), respectively.
Let M be a manifold. A subset A of M is said to be open if for any chart (U, φ)
belonging to the atlas of M, the set φ(A ∩ U ) is open in Rn .
4 1 Manifolds

Fig. 1.3 The stereographic projection establishes a one-to-one correspondence between the points
of the n-sphere, excluding the “north pole” (0, 0, . . . , 1), and the points of the plane x n+1 = 0. The
point (a 1 , a 2 , . . . , a n+1 ) is a point of the n-sphere different from (0, 0, . . . , 1)

Exercise 1.2 Show that the collection τ of open subsets of a manifold M is a topol-
ogy of M, that is, show that M and the empty set belong to τ , that the union of any
family of elements of τ belongs to τ , and that the intersection of any finite family
of elements of τ belongs to τ . We say that this topology is induced by the manifold
structure given in M.

When a given set, M, already possesses a topology and one wants to give it the
structure of a manifold in such a way that the topology induced by the manifold
structure coincides with the topology originally given, one demands that for each
chart (U, φ), in the atlas of M, the map φ be continuous and have a continuous
inverse; as a consequence, U must be an open set of M. (A map is continuous if and
only if the preimage of any open set is open.)

Example 1.3 Almost all the points of the n-sphere

%! 1 " ! "2 ! "2 &
Sn ≡ a , . . . , a n+1 ∈ Rn+1 | a 1 + · · · + a n+1 = 1

(n ≥ 1) can be put into a one-to-one correspondence with the points of Rn by

means of the stereographic projection defined in the following way. Any point
(a 1 , . . . , a n+1 ) ∈ Sn , different from (0, 0, . . . , 1), can be joined with (0, 0, . . . , 1)
by means of a straight line that intersects the hyperplane x n+1 = 0 at some point
(b1 , . . . , bn , 0) (see Fig. 1.3). The condition that the three points (a 1 , . . . , a n+1 ),
(0, 0, . . . , 1), and (b1 , . . . , bn , 0) lie on a straight line amounts to
! 1 " '! " (
b , . . . , bn , 0 − (0, 0, . . . , 1) = λ a 1 , . . . , a n+1 − (0, 0, . . . , 1) , (1.2)

for some λ ∈ R. By considering the last component in the vector equation (1.2)
we have 0 − 1 = λ(a n+1 − 1); hence, λ = 1/(1 − a n+1 ). Substituting this value
of λ into (1.2) we find that the mapping φ : Sn \ {(0, 0, . . . , 1)} → Rn defined by
φ(a 1 , . . . , a n+1 ) ≡ (b1 , . . . , bn ) is given by
! " 1 ! 1 "
φ a 1 , . . . , a n+1 = a , . . . , an . (1.3)
1−a n+1

The pair (U, φ), with U ≡ Sn \ {(0, 0, . . . , 1)}, is a chart of coordinates, since φ is
injective and φ(U ) = Rn (which is an open set in Rn ).
1.1 Differentiable Manifolds 5

In a similar manner, joining the points of Sn with (0, 0, . . . , −1) by means of

straight lines, another projection is obtained, χ : Sn \ {(0, 0, . . . , −1)} → Rn , given
by
! " 1 ! 1 "
χ a 1 , . . . , a n+1 = a , . . . , an (1.4)
1+a n+1

so that (V , χ) , with V ≡ Sn \ {(0, 0, . . . , −1)}, is a second chart of coordinates

which is C ∞ -related with (φ, U ). In effect, from (1.3) and (1.4) we find that
* n
,
! 1 " 1 + ! i "2
−1 1 n
φ b ,...,b = n ) 2b , . . . , 2b , −1 + b ,
1 + ni=1 (bi )2
i=1
* n
, (1.5)
! " 1 + ! "2
−1 1 1 n i
χ b ,...,b =
n ) 2b , . . . , 2b , 1 − b ,
1 + ni=1 (bi )2
i=1

and therefore
! "! " ! "! " (b1 , . . . , bn )
χ ◦ φ −1 b1 , . . . , bn = φ ◦ χ −1 b1 , . . . , bn = )n i 2
.
i=1 (b )

We have U ∩ V = Sn \ {(0, 0, . . . , 1), (0, 0, . . . , −1)}; hence φ(U ∩ V ) =

χ(U ∩ V ) = Rn \ {(0, 0, . . . , 0)}, where the compositions χ ◦ φ −1 and φ ◦ χ −1
are differentiable of class C ∞ . Since Sn = U ∪ V , the charts (U, φ) and (V , χ)
form a C ∞ subatlas for Sn .

The Cartesian product of two differentiable manifolds, M and N , acquires the

structure of a differentiable manifold in a natural way. If {(Ui , φi )} and {(Vj , ψj )}
are subatlases of M and N , respectively, one can verify that {(Ui × Vj , ρij )} is a
subatlas for M × N , with ρij (p, q) ≡ (x 1 (p), . . . , x n (p), y 1 (q), . . . , y m (q)), where
(x 1 (p), . . . , x n (p)) = φ(p) and (y 1 (q), . . . , y m (q)) = ψj (q).

Differentiability of Maps If f is a real-valued function defined on a differen-

tiable manifold M, f : M → R, and (U, φ) is a chart belonging to the atlas of M,
the composition f ◦ φ −1 is a real-valued function defined on an open subset of Rn ,
which may be differentiable or not (see Fig. 1.4). The differentiability of the com-
position f ◦ φ −1 does not depend on the chart chosen, since the charts of the atlas
of M are C k -related (for some k ≥ 1). From the identities
! " ! " ! " ! "
f ◦ φ −1 = f ◦ χ −1 ◦ χ ◦ φ −1 , f ◦ χ −1 = f ◦ φ −1 ◦ φ ◦ χ −1

it follows that f ◦ φ −1 is differentiable if and only if f ◦ χ −1 is. Hence, it makes

sense to state the following definition. Let M be a differentiable C k manifold.
A function f : M → R is differentiable of class C r (r ≤ k) if f ◦ φ −1 is differ-
entiable of class C r for every chart (U, φ) in the atlas of M.
For a fixed coordinate system (U, φ) belonging to the atlas of M, and a real-
valued function f : M → R, letting F ≡ f ◦ φ −1 , we have [see (1.1)]
! "! " ! " ! "
f (p) = f ◦ φ −1 φ(p) = F φ(p) = F x 1 (p), x 2 (p), . . . , x n (p) ,
6 1 Manifolds

Fig. 1.4 With the aid of a coordinate system on M, a real-valued function f defined on M is
represented by the function f ◦ φ −1 : Rn → R

for p ∈ U . Thus, we write f = F (x 1 , x 2 , . . . , x n ); in this manner, the function f is

expressed in terms of a real-valued function defined in (a subset of) Rn .

Exercise 1.4 Let M be a C k manifold. Show that the coordinates associated with
any chart in the atlas of M are differentiable functions of class C k . (Hint: if
φ(p) = (x 1 (p), x 2 (p), . . . , x n (p)), then x i = π i ◦ φ where π i : Rn → R is defined
by π i (a 1 , a 2 , . . . , a n ) = a i .)

If M is a C k manifold and N is a C l manifold, a map ψ from M into N is differ-

entiable of class C r (with r ≤ min{k, l}) if for any pair of charts (U, φ) on M and
(V , χ) on N , the map χ ◦ ψ ◦ φ −1 is differentiable of class C r ; that is, ψ : M → N
is differentiable if, for p ∈ M, the coordinates of ψ(p) depend differentiably on the
coordinates of p (see Fig. 1.5). In fact, if x 1 , x 2 , . . . , x n are the coordinates associ-
ated with the chart (U, φ) on M and y 1 , y 2 , . . . , y m are the coordinates associated
with the chart (V , χ) on N , we have
! 1! " ! "" ! " ! "! "
y ψ(p) , . . . , y m ψ(p) = χ ψ(p) = χ ◦ ψ ◦ φ −1 φ(p)
! "! "
= χ ◦ ψ ◦ φ −1 x 1 (p), . . . , x n (p) .

A diffeomorphism ψ is a one-to-one map from a differentiable manifold M to a

differentiable manifold N such that ψ and ψ −1 are differentiable; two differentiable
manifolds M and N are diffeomorphic if there exists a diffeomorphism ψ from M
onto N .

Exercise 1.5 Show that the set of diffeomorphisms of a manifold onto itself forms
a group with the operation of composition.

Let M be a C k manifold of dimension n. A subset N of M is a submanifold

of M, of dimension m (m ≤ n), if there exists a C k subatlas of M, {(Ui , φi )}, such
that
%! " &
φi (N ∩ Ui ) = a 1 , a 2 , . . . , a n ∈ Rn | a m+1 = a m+2 = · · · = a n = 0 .
1.1 Differentiable Manifolds 7

Fig. 1.5 The map ψ : M → N is locally represented by the map χ ◦ ψ ◦ φ −1 . ψ is differentiable

if the compositions χ ◦ ψ ◦ φ −1 are differentiable for any pair of charts (U, φ) on M and (V , χ)
on N

Let π be the canonical projection from Rn onto Rm given by π(a 1 , a 2 , . . . , a n ) =

(a 1 , a 2 , . . . , a m ). The collection {(N ∩ Ui , π ◦ φi )} is a C k subatlas on N , and N
becomes a C k manifold of dimension m with the atlas generated by this subatlas;
in other words, N is a submanifold of dimension m if there exist coordinate sys-
tems (U, φ) on M such that if U intersects N , then N ∩ U = {p ∈ U | x m+1 (p) =
x m+2 (p) = · · · = x n (p) = 0}, where x 1 , x 2 , . . . , x n are the coordinates associated
to (U, φ).
With the aid of the following theorem we can construct or identify many exam-
ples of submanifolds.

Theorem 1.6 Let f 1 , f 2 , . . . , f m be real-valued differentiable functions defined

on M. The set N ≡ {p ∈ M | f 1 (p) = f 2 (p) = · · · = f m (p) = 0} is a submanifold
of dimension n − m of M if for any chart (U, φ) of the atlas of M such that U
intersects N , the matrix with entries Di (f j ◦ φ −1 )|φ(p) (1 ≤ i ≤ n, 1 ≤ j ≤ m) is of
rank m for p ∈ N . (Di stands for the ith partial derivative.)

Proof Let p ∈ N and let (U, φ) be a chart on M with p ∈ U . Assuming that the
determinant of the square matrix Di (f j ◦ φ −1 )|φ(p) (1 ≤ i, j ≤ m) is different from
zero (which can be achieved by appropriately labeling the coordinates if necessary)
and denoting by x 1 , x 2 , . . . , x n the coordinates associated with (U, φ), the relations

y1 ≡ f 1, y2 ≡ f 2, ..., ym ≡ f m,
(1.6)
y m+1 ≡ x m+1 , ..., yn ≡ xn

define a coordinate system in some subset V of U , that is, the x i can be written as
differentiable functions of the y i . In the coordinates y i the points p of N satisfy
y 1 (p) = y 2 (p) = · · · = y m (p) = 0. Therefore, N is a submanifold of M of dimen-
sion n − m. !
8 1 Manifolds

Fig. 1.6 A curve in M and its image in a coordinate system. C is differentiable if φ ◦ C is differ-
entiable for any chart (U, φ) on M

Example 1.7 Let M = R3 and N ≡ {p ∈ R3 | f (p) = 0} with f = x 2 + y 2 − z,

where (x, y, z) are the natural coordinates of R3 . The matrix (Di (f ◦ φ −1 )|φ(p) ),
mentioned in Theorem 1.6, is the row matrix (2x(p) 2y(p) − 1), whose rank is
equal to 1 at all the points of N (actually, it is equal to 1 everywhere). Thus, we
conclude that N is a submanifold of R3 of dimension two. However, in order to
see in detail how the proof of the theorem works, we shall explicitly show that N
satisfies the definition of a submanifold given above.
It is convenient to relabel the coordinates, so that f takes the form f = y 2 +
z − x, because in that way the first entry of the matrix (Di (f ◦ φ −1 )|φ(p) ) is al-
2

ways different from zero. Then, following the steps of the proof of the theorem, we
introduce the coordinate system (u, v, w) [see (1.6)],

u = f = y 2 + z2 − x, v = y, w = z,

on all of R3 . From these expressions and their inverses, x = v 2 + w 2 − u, y = v,

z = w, we see that the two coordinate systems are C ∞ -related, and in terms of the
coordinate system (u, v, w), each point p ∈ N satisfies u(p) = 0.

Exercise 1.8 Show that if x 1 , x 2 , . . . , x n are the natural coordinates of Rn

(that is, the coordinates associated with the chart (Rn , id) of Rn ), then Sn−1 ≡
{p ∈ Rn | (x 1 (p))2 + (x 2 (p))2 + · · · + (x n (p))2 = 1}, is a submanifold of Rn of
dimension n − 1.

Definition 1.9 Let M be a C k manifold. A differentiable curve, C, of class C r ,

in M, is a differentiable mapping of class C r from an open subset of R into M; that
is, C : I → M is a differentiable curve of class C r in M if I is an open subset of R
and φ ◦ C is a differentiable map of class C r for every chart (U, φ) of the atlas of
M (see Fig. 1.6).

In what follows it will be assumed that all the objects dealt with (manifolds,
maps, curves, etc.) are of class C ∞ .
1.2 The Tangent Space 9

The set of all differentiable functions from M to R will be denoted by C ∞ (M).

This set is a ring with the operations given by

(f + g)(p) ≡ f (p) + g(p)

(af )(p) ≡ af (p) (1.7)
(f g)(p) ≡ f (p)g(p) for f, g ∈ C ∞ (M), a ∈ R, and p ∈ M.

If ψ is a differentiable map from M to a differentiable manifold N and

f ∈ C ∞ (N ), the pullback of f under ψ, ψ ∗ f , is defined by

ψ ∗ f ≡ f ◦ ψ. (1.8)

From the relation (ψ ∗ f ) ◦ φ −1 = (f ◦ χ −1 ) ◦ (χ ◦ ψ ◦ φ −1 ) it follows that ψ ∗ f ∈

C ∞ (M). That is, ψ ∗ : C ∞ (N ) → C ∞ (M) (ψ ∗ is applied to functions defined on N
to produce functions defined on M; hence the name pullback for ψ ∗ ).

Exercise 1.10 Show that ψ ∗ (af + bg) = aψ ∗ f + bψ ∗ g and ψ ∗ (f g) =

(ψ ∗ f )( ψ∗ g) for f, g ∈ C ∞ (N ) and a, b ∈ R.

Exercise 1.11 Show that a map ψ : M → N is differentiable if and only if ψ ∗ f ∈

C ∞ (M) for f ∈ C ∞ (N ).

Exercise 1.12 Show that if ψ1 : M1 → M2 and ψ2 : M2 → M3 are differentiable

maps, then (ψ2 ◦ ψ1 )∗ = ψ1 ∗ ◦ ψ2 ∗ .

1.2 The Tangent Space

If C is a differentiable curve in M and f ∈ C ∞ (M), then C ∗ f = f ◦ C is a dif-

ferentiable function from an open subset I ⊂ R into R (see Fig. 1.7). If t0 ∈ I , the
tangent vector to C at the point C(t0 ), denoted by Ct00 , is defined by

d ∗ -- f (C(t)) − f (C(t0 ))
Ct00 [f ] ≡ (C f )- = lim . (1.9)
dt t0 t→t0 t − t0

Hence, Ct00 is a map from C ∞ (M) into R with the properties (see Exercise 1.10)

d! ∗ "--
Ct00 [af + bg] = C (af + bg) -
dt t0
d -
∗ ∗ -
= (a C f + b C g)-
dt t0

= a Ct00 [f ] + b Ct00 [g], for f, g ∈ C ∞ (M), a, b ∈ R,

Random documents with unrelated
content Scribd suggests to you:
 Literature - Workbook
Fall 2021 - Division

Prepared by: Researcher Davis

Date: July 28, 2025

Lesson 1: Current trends and future directions

Learning Objective 1: Problem-solving strategies and techniques
• Problem-solving strategies and techniques
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Learning Objective 2: Interdisciplinary approaches
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Learning Objective 3: Key terms and definitions
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 3: Diagram/Chart/Graph]
Learning Objective 4: Problem-solving strategies and techniques
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Learning Objective 5: Research findings and conclusions
• Current trends and future directions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Comparative analysis and synthesis
• Current trends and future directions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 6: Diagram/Chart/Graph]
Example 6: Ethical considerations and implications
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Remember: Fundamental concepts and principles
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Best practices and recommendations
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Best practices and recommendations
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
[Figure 10: Diagram/Chart/Graph]
Lesson 2: Experimental procedures and results
Example 10: Statistical analysis and interpretation
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Example 11: Fundamental concepts and principles
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 12: Practical applications and examples
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Key Concept: Best practices and recommendations
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Problem-solving strategies and techniques
• Problem-solving strategies and techniques
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Remember: Assessment criteria and rubrics
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 16: Diagram/Chart/Graph]
Example 16: Practical applications and examples
• Fundamental concepts and principles
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 17: Diagram/Chart/Graph]
Definition: Problem-solving strategies and techniques
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Remember: Learning outcomes and objectives
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Important: Experimental procedures and results
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Introduction 3: Case studies and real-world applications
Example 20: Assessment criteria and rubrics
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Definition: Interdisciplinary approaches
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Key Concept: Critical analysis and evaluation
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Research findings and conclusions
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 24: Diagram/Chart/Graph]
Key Concept: Critical analysis and evaluation
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Remember: Fundamental concepts and principles
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Remember: Case studies and real-world applications
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Example 27: Critical analysis and evaluation
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Example 28: Historical development and evolution
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Important: Practical applications and examples
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Exercise 4: Case studies and real-world applications
Example 30: Experimental procedures and results
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 31: Diagram/Chart/Graph]
Key Concept: Current trends and future directions
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Note: Experimental procedures and results
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 33: Diagram/Chart/Graph]
Key Concept: Experimental procedures and results
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Key Concept: Experimental procedures and results
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Key Concept: Theoretical framework and methodology
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 36: Critical analysis and evaluation
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Ethical considerations and implications
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Important: Current trends and future directions
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Ethical considerations and implications
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Discussion 5: Experimental procedures and results
Remember: Statistical analysis and interpretation
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 41: Literature review and discussion
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Practice Problem 42: Interdisciplinary approaches
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Current trends and future directions
• Problem-solving strategies and techniques
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 44: Diagram/Chart/Graph]
Practice Problem 44: Learning outcomes and objectives
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Remember: Ethical considerations and implications
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Key Concept: Literature review and discussion
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Note: Statistical analysis and interpretation
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Example 48: Practical applications and examples
• Case studies and real-world applications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Example 49: Assessment criteria and rubrics
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Exercise 6: Best practices and recommendations
Practice Problem 50: Assessment criteria and rubrics
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Best practices and recommendations
• Case studies and real-world applications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Case studies and real-world applications
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Note: Best practices and recommendations
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Definition: Literature review and discussion
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Remember: Theoretical framework and methodology
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Current trends and future directions
• Historical development and evolution
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
[Figure 57: Diagram/Chart/Graph]
Key Concept: Ethical considerations and implications
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Key Concept: Ethical considerations and implications
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Note: Literature review and discussion
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 60: Diagram/Chart/Graph]
Review 7: Learning outcomes and objectives
Remember: Best practices and recommendations
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 61: Diagram/Chart/Graph]
Practice Problem 61: Learning outcomes and objectives
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Welcome to our website – the ideal destination for book lovers and
knowledge seekers. With a mission to inspire endlessly, we offer a
vast collection of books, ranging from classic literary works to
specialized publications, self-development books, and children's
literature. Each book is a new journey of discovery, expanding
knowledge and enriching the soul of the reade

Our website is not just a platform for buying books, but a bridge
connecting readers to the timeless values of culture and wisdom. With
an elegant, user-friendly interface and an intelligent search system,
we are committed to providing a quick and convenient shopping
experience. Additionally, our special promotions and home delivery
services ensure that you save time and fully enjoy the joy of reading.

Let us accompany you on the journey of exploring knowledge and

personal growth!

ebookfinal.com