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Introduction to General Relativity and Cosmology 1st
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Alan Macdonald
Luther College, Decorah, IA USA
mailto:[email protected]
http://faculty.luther.edu/∼macdonal
c
To Ellen
“The magic of this theory will hardly fail to impose itself on anybody
who has truly understood it.”
Albert Einstein
Contents
Preface
1 Flat Spacetimes
1.1 Spacetimes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 The Inertial Frame Postulate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 The Metric Postulate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.4 The Geodesic Postulate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2 Curved Spacetimes
2.1 History of Theories of Gravity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.2 The Key to General Relativity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.3 The Local Inertial Frame Postulate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.4 The Metric Postulate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.5 The Geodesic Postulate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.6 The Field Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4 Cosmological Spacetimes
4.1 Our Universe I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
4.2 The Robertson-Walker Metric . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3 The Expansion Redshift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.4 Our Universe II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.5 General Relativity Today . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Preface
The purpose of this book is to provide, with a minimum of mathematical
machinery and in the fewest possible pages, a clear and careful explanation of
the physical principles and applications of classical general relativity. The pre-
requisites are single variable calculus, a few basic facts about partial derivatives
and line integrals, a little matrix algebra, and some basic physics.
The book is for those seeking a conceptual understanding of the theory, not
computational prowess. Despite it’s brevity and modest prerequisites, it is a
serious introduction to the physics and mathematics of general relativity which
demands careful study. The book can stand alone as an introduction to general
relativity or it can be used as an adjunct to standard texts.
Chapter 1 is a self-contained introduction to those parts of special relativity
we require for general relativity. We take a nonstandard approach to the metric,
analogous to the standard approach to the metric in Euclidean geometry. In
geometry, distance is first understood geometrically, independently of any coor-
dinate system. If coordinates are introduced, then distances can be expressed in
terms of coordinate differences: ∆s2 = ∆x2 + ∆y 2 . The formula is important,
but the geometric meaning of the distance is fundamental.
Analogously, we define the spacetime interval of special relativity physically,
independently of any coordinate system. If inertial frame coordinates are in-
troduced, then the interval can be expressed in terms of coordinate differences:
∆s2 = ∆t2 − ∆x2 − ∆y 2 − ∆z 2 . The formula is important, but the physical
meaning of the interval is fundamental. I believe that this approach to the met-
ric provides easier access to and deeper understanding of special relativity, and
facilitates the transition to general relativity.
Chapter 2 introduces the physical principles on which general relativity is
based. The basic concepts of Riemannian geometry are developed in order to
express these principles mathematically as postulates. The purpose of the pos-
tulates is not to achieve complete rigor – which is neither desirable nor possible
in a book at this level – but to state clearly the physical principles, and to
exhibit clearly the relationship to special relativity and the analogy with sur-
faces. The postulates are in one-to-one correspondence with the fundamental
concepts of Riemannian geometry: manifold, metric, geodesic, and curvature.
Concentrating on the physical meaning of the metric greatly simplifies the de-
velopment of general relativity. In particular, tensors are not needed. There
is, however, a brief introcution to tensors in an appendix. (Similarly, modern
elementary differential geometry texts often develop the intrinsic geometry of
curved surfaces by focusing on the geometric meaning of the metric. Tensors
are not used.)
The first two chapters systematically exploit the mathematical analogy which
led to general relativity: a curved spacetime is to a flat spacetime as a curved
surface is to a flat surface. Before introducing a spacetime concept, its analog
for surfaces is presented. This is not a new idea, but it is used here more system-
atically than elsewhere. For example, when the metric ds of general relativity
is introduced, the reader has already seen a metric in three other contexts.
Chapter 3 solves the field equation for a spherically symmetric spacetime
to obtain the Schwartzschild metric. The geodesic equations are then solved
and applied to the classical solar system tests of general relativity. There is a
section on the Kerr metric, including gravitomagnetism and the Gravity Probe
B experiment. The chapter closes with sections on the binary pulsar and black
holes. In this chapter, as elsewhere, I have tried to provide the cleanest possible
calculations.
Chapter 4 applies general relativity to cosmology. We obtain the Robertson-
Walker metric in an elementary manner without using the field equation. We
then solve the field equation with a nonzero cosmological constant for a flat
Robertson-Walker spacetime. WMAP data allow us to specify all parameters in
the solution, giving the new “standard model” of the universe with dark matter
and dark energy.
There have been many spectacular astronomical discoveries and observa-
tions since 1960 which are relevant to general relativity. We describe them at
appropriate places in the book.
Some 50 exercises are scattered throughout. They often serve as examples
of concepts introduced in the text. If they are not done, they should be read.
Some tedious (but always straightforward) calculations have been omitted.
They are best carried out with a computer algebra system. Some material has
been placed in about 20 pages of appendices to keep the main line of development
visible. The appendices occasionally require more background of the reader than
the text. They may be omitted without loss of anything essential. Appendix
1 gives the values of various physical constants. Appendix 2 contains several
approximation formulas used in the text.
Chapter 1
Flat Spacetimes
1.1 Spacetimes
The general theory of relativity is our best theory of space, time, and gravity. It
is commonly felt to be the most beautiful of all physical theories. Albert Einstein
created the theory during the decade following the publication, in 1905, of his
special theory of relativity. The special theory is a theory of space and time
which applies when gravity is insignificant. The general theory generalizes the
special theory to include gravity.
In geometry the fundamental entities are points. A point is a specific place.
In relativity the fundamental entities are events. An event is a specific time and
place. For example, the collision of two particles is an event. A concert is an
event (idealizing it to a single time and place). To attend the concert, you must
be at the time and the place of the event.
A flat or curved surface is a set of points. (We shall prefer the term “flat
surface” to “plane”.) Similarly, a spacetime is a set of events. For example,
we might consider the events in a specific room between two specific times. A
flat spacetime is one without significant gravity. Special relativity describes
flat spacetimes. A curved spacetime is one with significant gravity. General
relativity describes curved spacetimes.
There is nothing mysterious about the words “flat” or “curved” attached
to a set of events. They are chosen because of a remarkable analogy, already
hinted at, concerning the mathematical description of a spacetime: a curved
spacetime is to a flat spacetime as a curved surface is to a flat surface. This
analogy will be a major theme of this book; we shall use the mathematics of
flat and curved surfaces to guide our understanding of the mathematics of flat
and curved spacetimes.
We shall explore spacetimes with clocks to measure time and rods (rulers)
to measure space, i.e., distance. However, clocks and rods do not in fact live
up to all that we usually expect of them. In this section we shall see what we
expect of them in relativity.
11
1.1 Spacetimes
12
1.1 Spacetimes
13
1.2 The Inertial Frame Postulate
14
1.2 The Inertial Frame Postulate
Exercise 1.1. Show that the worldline of an object moving along the x-axis
at constant speed v is a straight line with slope v. See Fig. 1.5.
Exercise 1.2. Describe the worldline of an object moving in a circle in the
z = 0 plane at constant speed v.
Synchronization. We return to the matter of synchronizing the clocks in
the lattice. What does it mean to say that separated clocks are synchronized?
Einstein realized that the answer to this question is not given to us by Nature;
rather, it must be answered with a definition.
Exercise 1.3. Why not simply bring the clocks together, synchronize them,
move them to the nodes of the lattice, and call them synchronized?
We might try the following definition. Send a signal from a node P of the
lattice at time tP according to the clock at P . Let it arrive at a node Q of
the lattice at time tQ according to the clock at Q. Let the distance between
the nodes be D and the speed of the signal be v. Say that the clocks are
synchronized if
tQ = tP + D/v. (1.1)
Intuitively, the term D/v compensates for the time it takes the signal to get to
Q. This definition is flawed because it contains a logical circle: v is defined by
a rearrangement of Eq. (1.1): v = D/(tQ − tP ). Synchronized clocks cannot be
defined using v because synchronized clocks are needed to define v.
We adopt the following definition, essentially due to Einstein. Emit a pulse
of light from a node P at time tP according to the clock at P . Let it arrive at a
node Q at time tQ according to the clock at Q. Similarly, emit a pulse of light
from Q at time t0Q and let it arrive at P at t0P . The clocks are synchronized if
15
1.2 The Inertial Frame Postulate
With this assumption we can be sure that synchronized clocks will remain syn-
chronized.
Exercise 1.5. Show that with the assumption Eq. (1.4), T in Eq. (1.3) is
independent of the time the pulse is sent.
A rearrangement of Eq. (1.4) gives
∆so = ∆se , (1.5)
where ∆so = t0S − tS is the time between the observation of the pulses at S and
∆se = t0R − tR is the time between the emission of the pulses at R. (We use ∆s
rather than ∆t to conform to notation used later in more general situations.) If
a clock at R emits pulses of light at regular intervals to S, then Eq. (1.5) states
that an observer at S sees (actually sees) the clock at R going at the same rate
as his clock. Of course, the observer at S will see all physical processes at R
proceed at the same rate they do at S.
Redshifts. We will encounter situations in which ∆so 6= ∆se . Define the
redshift
∆so
z= − 1. (1.6)
∆se
Equations (1.4) and (1.5) correspond to z = 0. If, for example, z = 1 (∆so /∆se
= 2), then the observer at S would see clocks at R, and all other physical
processes at R, proceed at half the rate they do at S.
If the two “pulses” of light in Eq. (1.6) are successive wavecrests of light
emitted at frequency fe = (∆se )−1 and observed at frequency fo = (∆so )−1 ,
then Eq. (1.6) can be written
fe
z= − 1. (1.7)
fo
16
1.2 The Inertial Frame Postulate
In Exercise 1.6 we shall see that Eq. (1.5) is violated, i.e., z 6= 0, if the
emitter and observer are in relative motion in a flat spacetime. This is called
a Doppler redshift. Later we shall see two other kinds of redshift: gravitational
redshifts in Sec. 2.2 and expansion redshifts in Sec. 4.1. The three types of
redshifts have different physical origins and so must be carefully distinguished.
Synchronization. The inertial frame pos-
tulate asserts in part that clocks in an inertial
lattice can be synchronized according to the
definition Eq. (1.2), or, in P. W. Bridgeman’s
descriptive phrase, we can “spread time over
space”. We now prove this with the aid of an
auxiliary assumption. The reader may skip the
proof and turn to the next section without loss
of continuity.
Let 2T be the time, as measured by a clock
at the origin O of the lattice, for light to travel
from O to another node Q and return after
being reflected at Q. Emit a pulse of light at O
toward Q at time tO according to the clock at Fig. 1.6: Light traversing
a triangle in opposite direc-
O. When the pulse arrives at Q set the clock
tions.
there to tQ = tO + T . According to Eq. (1.3)
the clocks at O and Q are now synchronized.
Synchronize all clocks with the one at O in this way.
To show that the clocks at any two nodes P and Q are now synchronized
with each other, we must make this assumption:
The time it takes light to traverse a triangle in the lattice is inde-
pendent of the direction taken around the triangle.
See Fig. 1.6. In an experiment performed in 1963, W. M. Macek and D. T.
M. Davis, Jr. verified the assumption for a square to one part in 1012 . See
Appendix 3.
Reflect a pulse of light around the triangle OP Q. Let the pulse be at
O, P, Q, O at times tO , tP , tQ , tR according to the clock at that node. Similarly,
let the times for a pulse sent around in the other direction be t0O , t0Q , t0P , t0R .
See Fig. 1.6. We have the algebraic identities
tR − tO = (tR − tP ) + (tP − tQ ) + (tQ − tO )
t0R − t0O = (t0R − t0P ) + (t0P − t0Q ) + (t0Q − t0O ). (1.8)
According to our assumption, the left sides of the two equations are equal. Also,
since the clock at O is synchronized with those at P and Q,
tP − tO = t0R − t0P and tR − tQ = t0Q − t0O .
Thus, subtracting the equations Eq. (1.8) shows that the clocks at P and Q are
synchronized:
tQ − tP = t0P − t0Q .
17
1.3 The Metric Postulate
18
1.3 The Metric Postulate
19
1.3 The Metric Postulate
The metric postulate asserts that the proper time between two events is less than
the time determined by the synchronized clocks of an inertial frame: ∆s < ∆t.
Informally, “moving clocks run slowly”. This is called time dilation. According
1
to Eq. (1.12) the time dilation factor is (1 − v 2 ) 2 . For normal speeds, v is very
2
small, v is even smaller, and so from Eq. (1.12), ∆s ≈ ∆t, as expected. But
1
as v → 1, ∆t/∆s = (1 − v 2 )− 2 → ∞. Fig. 1.8 shows the graph of ∆t/∆s vs. v.
Exercise 1.6. Investigate the
Doppler redshift. Let a source of light
pulses move with velocity v directly
away from an observer at rest in an iner-
tial frame. Let ∆te be the time between
the emission of pulses, and ∆to be the
time between the reception of pulses by
the observer.
a. Show that ∆to = ∆te + v∆te /c .
b. Ignore time dilation in Eq. (1.6)
by setting ∆s = ∆t. Show that z = v/c
in this approximation.
c. Show that the exact formula is
1
z = [(1 + v)/(1 − v)] 2 − 1 (with c = 1). 1
Fig. 1.8: ∆t/∆s = (1 − v 2 )− 2 .
Use the result of part a.
The metric postulate asserts that the proper distance between spacelike separated
events is less than an inertial frame distance: |∆s | < |∆x|. (This is not length
contraction, which we discuss in Appendix 5.)
Connections. We have just seen that the physical meaning of the metric
postulate is different for lightlike, timelike, and spacelike separated events. How-
ever, the meanings are connected: the physical meaning for lightlike separated
events (a universal light speed) implies the physical meanings for timelike and
spacelike separated events. We now prove this for the timelike case. The proof
is quite instructive. The spacelike case is less so; it is relegated to Appendix 4.
20
1.3 The Metric Postulate
By definition, an inertial
clock C can move between time-
like separated events E and F ,
and ∆s is the time C measures
between the events. Let C carry
a rod R perpendicular to its di-
rection of motion. Let R have
a mirror M on its end. At E a Fig. 1.9: ∆s2 = ∆t2 − ∆x2 for timelike
light pulse is sent along R from separated events. e and f are the points at
C. The length of R is chosen so which events E and F occur.
that the pulse is reflected by M
back to F . Fig. 1.9 shows the path of the light in I, together with C, R, and M
as the light reflects off M .
Refer to the rightmost triangle in Fig. 1.9. In I, the distance between E and
F is ∆x. This gives the labeling of the base of the triangle. In I, the light takes
the time ∆t from E to M to F . Since c = 1 in I, the light travels a distance
∆t in I. This gives the labeling of the hypotenuse. C is at rest in some inertial
frame I 0 . In I 0 , the light travels the length of the rod twice in the proper time
∆s between E and F measured by C. Since c = 1 in I 0 , the length of the rod
is 21 ∆s in I 0 . This gives the labeling of the altitude of the triangle. (There is a
tacit assumption here that the length of R is the same in I and I 0 . Appendix 5
discusses this.) Applying the Pythagorean theorem to the triangle shows that
Eq. (1.11) is satisfied for timelike separated events.
In short, since the light travels farther in I than in I 0 (the hypotenuse twice
vs. the altitude twice) and the speed c = 1 is the same in I and I 0 , the time (=
distance/speed) between E and F is longer in I than for C. This shows, in a
most graphic way, that accepting a universal light speed forces us to abandon a
universal time.
The argument shows how it is possible for a single pulse of light to have the
same speed in inertial frames moving with respect to each other: the speed (=
distance/time) can be the same because the distance and the time are different
in the two frames.
Exercise 1.7. Criticize the following argument. We have just seen that
the time between two events is greater in I than in I 0 . But exactly the same
argument carried out in I 0 will show that the time between the events is greater
in I 0 than in I. This is a contradiction.
Local Forms. The metric postulate for a planar frame, Eq. (1.9), gives only
the distance along a straight line between two points. The differential version
of Eq. (1.9) gives the distance ds between neighboring points along any curve:
21
1.3 The Metric Postulate
Of course, different curves between two points can have different lengths.
Exercise 1.8. Calculate the circumference of the circle x = r cos θ, y =
r sin θ, 0 ≤ θ ≤ 2π.
The metric postulate for an inertial frame Eq. (1.10) is concerned only with
times measured by inertial clocks. The differential version of Eq. (1.10) gives
the time ds measured by any clock between neighboring events on its worldline:
In general, clocks on different worldlines between two events will measure dif-
ferent times between the events.
Exercise 1.9. Let a clock move between two events with a time difference
∆t. Let v be the small constant speed of the clock. Show that ∆t−∆s ≈ 21 v 2 ∆t.
Exercise 1.10. Consider a simplified Hafele-Keating experiment. One
clock remains on the ground and the other circles the equator in an airplane to
the west – opposite to the Earth’s rotation. Assume that the Earth is spinning
on its axis at one revolution per 24 hours in an inertial frame. (Thus the clock
on the ground is not at rest.) Notation: ∆t is the duration of the trip in the
22
1.3 The Metric Postulate
inertial frame, vr is the velocity of the clock remaining on the ground, and ∆sr
is the time it measures for the trip. The quantities va and ∆sa are defined
similarly for the airplane.
Use Exercise 1.9 for each clock to show that the difference between the
clocks due to time dilation is ∆sa − ∆sr = 21 (va2 − vr2 )∆t. Suppose that ∆t = 40
hours and the speed of the airplane with respect to the ground is 1000 km/hr.
Substitute values to obtain ∆sa − ∆sr = 1.4 × 10−7 s.
23
1.3 The Metric Postulate
The universal nature of the speed of light makes possible the modern defini-
tion of the unit of length: “The meter is the length of the path traveled by light
during the time interval of 1/299,792,458 of a second.” Thus, by definition, the
speed of light is 299,792,458 m/sec.
24
1.4 The Geodesic Postulate
The line in Fig. 1.11 can be parameterized by the (proper) distance s from
(b1 , b2 ) to (x1 , x2 ): x1 (s) = (cos θ)s+b1 , x2 (s) = (sin θ)s+b2 . Differentiate twice
with respect to s to obtain
25
1.4 The Geodesic Postulate
xi = ai x0 + bi , i = 1, 2, 3. (1.16)
(Differentiate to give dxi /dx0 = ai ; the velocity is constant.) For inertial parti-
cles this is called Newton’s first law.
Set x0 = p, a parameter; a0 = 1; and b0 = 0, and find that worldlines of
inertial particles and light can be parameterized
xi (p) = ai p + bi , i = 0, 1, 2, 3 (1.17)
in an inertial frame. Eq. (1.17), unlike Eq. (1.16), is symmetric in all four
coordinates of the inertial frame. Also, Eq. (1.17) shows that the worldline is
a straight line in the spacetime. Thus “straight in spacetime” includes both
“straight in space” and “straight in time” (constant speed). See Exercise 1.1.
The worldlines are called geodesics.
Exercise 1.11. In Eq. (1.17) the parameter p = x0 . Show that the
worldline of an inertial particle can also parameterized with s, the proper time
along the worldline.
ẍi = 0, i = 0, 1, 2, 3. (1.18)
26
Chapter 2
Curved Spacetimes
27
2.1 History of Theories of Gravity
κM
a=− , (2.1)
r2
28
2.1 History of Theories of Gravity
telling him where the new planet should be – and Neptune was discovered! It
was within 1 arcdegree of Le Verrier’s prediction.
Even today, calculations of spacecraft trajectories are made using Newton’s
theory. The incredible accuracy of his theory will be examined further in Sec.
3.3.
Nevertheless, Einstein rejected Newton’s theory because it is based on pre-
relativity ideas about time and space which, as we have seen, are not correct.
For example, the acceleration in Eq. (2.1) is instantaneous with respect to a
universal time.
29
2.2 The Key to General Relativity
30
2.2 The Key to General Relativity
31
2.2 The Key to General Relativity
Moon causes a difference in their acceleration toward the Sun. The lunar laser
experiment shows that this does not happen. This is something that the Dicke
and Braginsky experiments cannot test.
The last experiment we shall consider as evidence for the three postulates is
the terrestrial redshift experiment. It was first performed by R. V. Pound and G.
A. Rebka in 1960 and then more accurately by Pound and J. L. Snider in 1964.
The experimenters put a source of gamma radiation at the bottom of a tower.
Radiation received at the top of the tower was redshifted: z = 2.5 × 10−15 ,
within an experimental error of about 1%. This is a gravitational redshift.
According to the discussion following Eq. (1.6), an observer at the top of
the tower would see a clock at the bottom run slowly. Clocks at rest at different
heights in the Earth’s gravity run at different rates! Part of the result of the
Hafele-Keating experiment is due to this. See Exercise 2.1.
We showed in Sec. 1.3 that the assumption Eq. (1.4), necessary for synchro-
nizing clocks at rest in the coordinate lattice of an inertial frame, is equivalent
to a zero redshift between the clocks. This assumption fails for clocks at the
top and bottom of the tower. Thus clocks at rest in a small coordinate lattice
on the ground cannot be (exactly) synchronized.
We now show that the experiment provides evidence that clocks at rest in
a small inertial lattice can be synchronized. In the experiment, the tower has
(upward) acceleration g, the acceleration of Earth’s gravity, in a small inertial
lattice falling radially toward Earth. We will show shortly that the same redshift
would be observed with a tower having acceleration g in an inertial frame in
a flat spacetime. This is another example of small regions of flat and curved
spacetimes being alike. Thus it is reasonable to assume that there would be
no redshift with a tower at rest in a small inertial lattice in gravity, just as
with a tower at rest in an inertial frame. (It is desirable to test this directly
by performing the experiment in orbit.) In this way, the experiment provides
evidence that the condition Eq. (1.4), necessary for clock synchronization, is
valid for clocks at rest in a small inertial lattice. Loosely speaking, we may say
that since light behaves “properly” in a small inertial lattice, light accelerates
the same as matter in gravity.
We now calculate the Doppler redshift for a tower with acceleration g in an
inertial frame. Suppose the tower is momentarily at rest when gamma radiation
is emitted. The radiation travels a distance h, the height of the tower, in the
inertial frame. (We ignore the small distance the tower moves during the flight
of the radiation. We shall also ignore the time dilation of clocks in the moving
tower and the length contraction – see Appendix 5 – of the tower. These effects
are far too small to be detected by the experiment.) Thus the radiation takes
time t = h/c to reach the top of the tower. (For clarity we do not take c = 1.)
In this time the tower acquires a speed v = gt = gh/c in the inertial frame.
From Exercise 1.6, this speed causes a Doppler redshift
v gh
z= = 2. (2.2)
c c
In the experiment, h = 2250 cm. Substituting numerical values in Eq.
32
2.2 The Key to General Relativity
(2.2) gives the value of z measured in the terrestrial redshift experiment; the
gravitational redshift for towers accelerating in inertial frames is the same as
the Doppler redshift for towers accelerating in small inertial lattices near Earth.
Exercise 3.4 shows that a rigorous calculation in general relativity also gives Eq.
(2.2).
Exercise 2.1. Let h be the height at which the airplane flies in the simplified
Hafele-Keating experiment of Exercise 1.10. Show that the difference between
the clocks due to the gravitational redshift is
Suppose that h = 10 km. Substitute values to obtain ∆sa − ∆sr = 1.6 × 10−7
sec.
Adding this to the time dilation difference of Exercise 1.10 gives a difference
of 3.0 × 10−7 sec. Exercise 3.3 shows that a rigorous calculation in general
relativity gives the same result.
The Global Positioning System (GPS) of satellites must adjust its clocks for
time dilation and gravitational redshifts to function properly. In fact, the effects
are 10,000 times too large to be ignored.
33
2.3 The Local Inertial Frame Postulate
34
2.3 The Local Inertial Frame Postulate
(Technically, the postulate should state that a curved surface is a two dimen-
sional manifold . The statement given will suffice for us.)
In the last section we saw that inertial objects in an astronaut’s cabin behave
as if no gravity were present. Actually, they will not behave ex:actly as if no
gravity were present. To see this, assume for simplicity that their cabin is falling
radially toward Earth. Inertial objects in the cabin do not accelerate exactly the
same with respect to the Earth because they are at slightly different distances
and directions from the Earth’s center. See Fig. 2.7. Thus, an object initially
at rest near the top of the cabin will slowly separate from one initially at rest
near the bottom. In addition, two objects initially at rest at the same height
will slowly move toward each other as they both fall toward the center of the
Earth. These changes in velocity are called tidal accelerations. (Why?) They
are caused by small differences in the Earth’s gravity at different places in the
cabin. They become smaller in smaller regions of space and time, i.e., in smaller
regions of spacetime.
Suppose that astronauts in a curved spacetime at-
tempt to construct an inertial cubical lattice using rigid
rods. If the rods are short enough, then at first they will
fit together well. But as the grid gets larger, the lattice
will have to resist tidal accelerations, and the rods can-
not all be inertial. This will cause stresses in the lattice
and it will not be quite cubical.
In the last section we saw that the terrestrial redshift
experiment provides evidence that clocks in a small iner-
Fig. 2.7: Tidal
tial lattice can be synchronized. Actually, due to small
accelerations in
differences in the gravity at different places in the lattice,
a radially free
an attempt to synchronize the clocks with the one at the falling cabin.
origin with the procedure of Sec. 1.3 will not quite work.
However, we can hope that the procedure will work with as small an error as
desired by restricting the lattice to a small enough region of a spacetime.
A small (nearly) cubical lattice with (nearly) synchronized clocks is called a
local inertial frame at E, where E is the event at the origin of the lattice when
the clock there reads zero. In smaller regions around E, the lattice is more
cubical and the clocks are more nearly synchronized. Local inertial frames are
in free fall.
35
2.3 The Local Inertial Frame Postulate
In the next two sections we give the metric and geodesic postulates of gen-
eral relativity. We first express the postulates in local inertial frames. This
local form of the postulates gives them the same physical meaning as in special
relativity. We then translate the postulates to global coordinates. This global
form of the postulates is unintuitive and complicated but is necessary to carry
out calculations in the theory.
We can use arbitrary global coordinates in flat as well as curved spacetimes.
We can then put the metric and geodesic postulates of special relativity in the
same global form that we shall obtain for these postulates for curved space-
times. We do not usually use arbitrary coordinates in flat spacetimes because
inertial frames are so much easier to use. We do not have this luxury in curved
spacetimes.
It is remarkable that we shall be able to describe curved spacetimes intrinsi-
cally, i.e., without describing them as curved in a higher dimensional flat space.
Gauss created the mathematics necessary to describe curved surfaces intrinsi-
cally in 1827. G. B. Riemann generalized Gauss’ mathematics to curved spaces
of higher dimension in 1854. His work was extended by several mathematicians.
Thus the mathematics necessary to describe curved spacetimes intrinsically was
waiting for Einstein when he needed it.
36
2.4 The Metric Postulate
Even though the local planar frame extends a finite distance from P , Eq. (2.5)
holds only for infinitesimal distances from P .
We now express Eq. (2.5) in terms of global coordinates. Set the matrix
◦ ◦ 1 0
f = (fmn ) = .
0 1
◦
ds2 = fmn dxm dxn
m n
◦ ∂x j ∂x k
= fmn dy dy (sum on m, n, j, k)
∂y j ∂y k
m n
◦ ∂x ∂x
= fmn dy j dy k
∂y j ∂y k
= gjk (y) dy j dy k , (2.8)
37
2.4 The Metric Postulate
We should not think of a vector as its components (vi ) , but as a single object
v which represents a magnitude and direction (an arrow). In a given coordinate
system the vector acquires components. The components will be different in
different coordinate systems.
Similarly, we should not think of the metric as its components (gjk ) , but as
a single object g which represents infinitesimal distances. In a given coordinate
system the metric acquires components. The components will be different in
different coordinate systems.
Exercise 2.4. Let (y i ) and (ȳ i ) be two coordinate systems on the same
surface, with metrics (gjk (y i )) and (ḡpq (ȳ i )). Show that
∂y j ∂y k
ḡpq = gjk . (2.12)
∂ ȳ p ∂ ȳ q
Hint: See Eq. (2.8).
38
2.4 The Metric Postulate
The metric postulate asserts a universal light speed and a formula for proper
time in local inertial frames. (See the discussion following Eq. (1.11).) This
is another instance of the key to general relativity: a small region of a curved
spacetime is very much like a small region of a flat spacetime.
We now translate the metric postulate to global coordinates. Eq. (2.13) can
be written
◦
ds2 = fmn dxm dxn , (2.14)
where
1 0 0 0
0 −1 0 0
f ◦ = (fmn
◦
)= .
0 0 −1 0
0 0 0 −1
Using Eq. (2.14), the calculation Eq. (2.8), which produced the global form
of the metric postulate for curved surfaces, now produces the global form of the
metric postulate for curved spacetimes.
39
2.5 The Geodesic Postulate
ẍi (P ) = 0, i = 1, 2. (2.16)
ÿ i + Γijk ẏ j ẏ k = 0, i = 1, 2. (2.18)
40
2.5 The Geodesic Postulate
Appendix 9 translates the local form of the postulate to the global form.
The translation requires an assumption. A local planar frame at P extends to a
finite region around P . Let f = (fmn (x)) represent the metric in this coordinate
system. According to Eq. (2.7), (fmn (P )) = f ◦ . Appendix 8 shows that there
are coordinates, called geodesic coordinates, satisfying this relationship and also
∂i fmn (P ) = 0 (2.19)
for all m, n, i. A function with a zero derivative at a point is not changing much
at the point. In this sense Eq. (2.19) states that f stays close to f ◦ near P .
Since a local planar frame at P is constructed to approximate a planar frame
as closely as possible near P , surface dwellers assume that the metric of a local
planar frame at P satisfies Eq. (2.19).
Exercise 2.7. Show that the metric of Exercise 2.3 satisfies Eq. (2.19) at
(x, y) = (0, 0) .
Exercise 2.8. Show that Eq. (2.18) reduces to Eq. (2.16) for local planar
frames.
Exercise 2.9. Show that the equator is the only circle of latitude which is
a geodesic. Of course, all great circles on a sphere are geodesics. Use the result
of Exercise 2.6. Before using the geodesic equations you must parameterize the
circles with s.
41
2.5 The Geodesic Postulate
We now assume that the metric of a local inertial frame at E satisfies Eq.
(2.19) for the same reasons as given above for local planar frames. Then Ap-
pendix 9 translates the local form of the geodesic postulate for curved spacetimes
to the global form:
ÿ i + Γijk ẏ j ẏ k = 0, i = 0, 1, 2, 3. (2.21)
42
2.6 The Field Equation
43
2.6 The Field Equation
We can roll a flat piece of paper into a cylinder without distorting distances
on the paper and thus without changing K. Thus K = 0 for the cylinder.
Viewed from the outside, the cylinder is curved, and so K = 0 seems “wrong”.
However, viewed from within (and remember, we are describing curved surfaces
and spacetimes without reference to a higher dimensional space), the rolling
does not distort distances in the paper. Thus surface dwellers could not detect
the curvature seen from the outside. Thus K “should” be zero for the cylinder.
The formula expressing K in terms of distances was given by Gauss. If
g12 = 0, then
n 1 1
1 1
o
−1 − −
∂i ≡ ∂/∂y i . (2.23)
K = − (g11 g22 ) 2 ∂1 g112 ∂1 g22 2
+ ∂2 g222 ∂2 g11
2
Exercise 2.12. Show that Eq. (2.23) gives K = 1/R2 for a sphere of radius
R. Use Eq. (2.11).
Exercise 2.13. Generate a surface of revolution by rotating the param-
eterized curve y = f (u), z = h(u) about the z-axis. Let (r, θ, z) be cylin-
drical coordinates and parameterize the surface with coordinates (u, θ). Use
ds2 = dr2 + r2 dθ2 + dz 2 to show that the metric is
02
f + h02 0
.
0 f2
Ru 1
Exercise 2.14. If y = Re−u and z = R 0 (1 − e−2t ) 2 dt, then the surface
of revolution in Exercise 2.13 is the pseudosphere of Fig. 2.11. Show that
K = −1/R2 for the pseudosphere.
Exercise 2.15. If y = 1 and z = u, then the surface of revolution in
Exercise 2.13 is a cylinder. Show that K = 0 for a cylinder using Eq. (2.23).
The local forms of our curved spacetime postulates show that in many re-
spects a small region of a curved spacetime is like a small region of a flat space-
time. We might suppose that all differences between the regions vanish as the
regions become smaller. This is not so.
To see this, refer to Fig. 2.7. Let ∆ r be the small distance between objects
at the top and bottom of the cabin and let ∆ a be the small tidal acceleration
between them. In the curved spacetime of the cabin ∆ a 6= 0 , which is different
from the flat spacetime value ∆ a = 0. But in the cabin ∆ a → 0 as ∆ r → 0 ;
this difference between a curved and flat spacetime does vanish as the regions
becomes smaller. But also in the cabin ∆ a/∆ r 6= 0 , again different from the flat
spacetime ∆ a/∆ r = 0 . This difference does not vanish as the regions become
smaller: in the cabin, using Eq. (2.1), ∆ a/∆ r → da/dr = 2κM/r3 6= 0.
The metric and geodesic postulates describe the behavior of clocks, light,
and inertial particles in a curved (or flat) spacetime. But to apply these pos-
tulates, we must know the metric of the spacetime. Our final postulate for
general relativity, the field equation, determines the metric. Loosely speaking,
the equation determines the “shape” of a spacetime, how it is “curved”.
44
2.6 The Field Equation
We constructed the metric in Sec. 2.4 using local inertial frames. There
is obviously a relationship between the motion of local inertial frames and the
distribution of mass in a curved spacetime. Thus, there is a relationship between
the metric of a spacetime and the distribution of mass in the spacetime. The
field equation gives this relationship. Schematically it reads
quantity determined quantity determined
= . (2.24)
by metric by mass/energy
To specify the two sides of this equation, we need several definitions. Define
the Ricci tensor
Don’t panic over this convoluted definition: You need not have a physical un-
derstanding of the Ricci tensor. And while the Rjk are extremely tedious to
calculate by hand, computers can readily calculate them for us.
The Ricci tensor is entirely determined by the metric. We shall see that
it contains information about the curvature K of two dimensional surfaces in
four dimensional spacetime. Like K, it involves second derivatives of the gjk
(because the Γijk involve the first derivatives).
As with the metric g , we will use R to designate the Ricci tensor as a single
object, existing independently of any coordinate system, but which in a given
coordinate system acquires components Rjk .
Define the curvature scalar R = g jk Rjk .
We can now specify the left side of the schematic field equation Eq. (2.24):
the quantity determined by the metric is the Einstein tensor
G = R − 12 R g.
The right side of the field equation is given by the energy-momentum tensor
T. It represents the source of the gravitational field in general relativity. All
forms of matter and energy, including electromagnetic fields, and also pressures,
stresses, and viscosity contribute to T. But for our purposes we need to con-
sider only matter of a special form, called dust. In dust, matter interacts only
gravitationally; there are no pressures, stresses, or viscosity. Gas in interstellar
space which is thin enough so that particle collisions are infrequent is dust.
We now define T for dust. Choose an event E with coordinates (y i ). Let ρ be
the density of the dust at E as measured by an observer moving with the dust.
(Thus ρ is the same in all coordinate systems.) Let ds be the time measured by
the observer between E and a neighboring event on the dust’s worldline with
coordinates (y i + dy i ). Define
dy j dy k
T jk = ρ . (2.26)
ds ds
45
Exploring the Variety of Random
Documents with Different Content
LECTURE XXVI
GERMINAL SELECTION (continued)
Germinal selection, spontaneous and induced—Climatic forms of
Polyommatus phlæas—Deformities—Excessive augmentation of
variations—Can it lead to the elimination of a species?—Saltatory
variations, copper-beech, weeping trees—Origin of sexual
distinguishing characters—Formation of breeds among domesticated
animals—Degenerate jaws—Human teeth—Short-sightedness—Milk-
glands—Small hands and feet—Ascending variation—Talents, intellect—
Combination of mental endowments—The ultimate roots of heritable
variation—There are only plus- and minus-variations—Relations of the
determinants to their determinates—The play of forces in the
determinant system of the id—Germinal selection inhibited by personal
selection—Objection on the score of the minuteness of the substance
of the germ-plasm.