Notes on Dierentiable Manifolds

Dr.Maung Min-OO
September 27, 2013
Abstract
something here
1 Dierentiable Manifolds
Denition 1.1. A topological manifold of dimension n is a Hausdor, second countable
topological space M for which each point has a neighbourhood homeomorphic to an open
subset of R
n
. If x is such a homeomorphism of a connected open set U M onto an open
subset of R
n
, we call x a coordinate map and the pair (U, x) is called a coordinate system
or chart. If p U and x(p) = 0, then the coordinate system is said to be centred at p.
Denition 1.2. Let U R
n
be an open set and f : U R
n
be a map. We say that f is
dierentiable of class C

(or simply f is C

) if each of the component functions f

i
has
partial derivatives of all orders.
Denition 1.3. A dierentiable structure / of class C

on a topological manifold M is a
collection of coordinate systems (U

, x

)[ / satisfying the following three properties:

A
= M
X

x
1

is C

for all , / such that U

,= .
The collection / is maximal with respect to the previous property, i.e. if (U, x) is
a coordinate system such that x x
1

and x
1

x are C

for all / such that

U U

,= , then (U, x) /.
Theorem 1.4. If /
0
is any collection of coordinate systems (called an atlas) satisfying the
above properties, then there is a unique dierentiable structure / containing /
0
. Namely,
/ = (U, x)[x x
1

and x
1

x are C

for all /
0

1
Denition 1.5. An n-dimensional dierentiable manifold of class C

(or simply a
smooth manifold) is a pair (M, /) consisting of an n-dimensional topological manifold
M together witha dierentiable structure / of lcass C

for M.
Example 1.6. The standard dierentiable structure on R
n
is dened to be the max-
imal collection containing the single coordinate chart f : R
n

id
R
n
.
An open subset U of a smooth manifold M inherits a canonical smooth structure
dened by
/
:
= (U U

, x

)[
UU

[(U U

, x

) /
M
.
GL(n; R) := A[Ais a matrix nn, det(A) ,= 0 R
n
2
is an open subset of R
n
2
and
hence inherits a smooth manifolds structure
If (M
1
, /
1
) and (M
2
, /
2
) are smooth manifolds of dimension n
1
, n
2
, then the prod-
uct M
1
M
2
inherits a smooth structure / = (U

, x

: U

R
n
1
+n
2
)[(U

, x

) /
1
, (V

, y

) /
2

The n-sphere S
n
:= x R
n+1
[[x[
2
= 1 is a smooth dimensional manifold by taking
/ to be the maximal atlas containing (S
n
n, sp
n
), (S
s
n, sp
s
) where sp
n
and
sp
s
are stereographic projections from the north pole n = (0, . . . , 1) and south pole
respsectively s = (0, . . . , 1).
T
n
:= S
1
S

S
1
a product of n one dimensional sphere S
1
has a canonical
smooth dierentiable structure.
Denition 1.7. A continuous map f : M N between two dierentiable manifolds is
said to be dierentiable manifold of class C

i xf y
1
is C

for each coordinate map

x on M and y on N.
Since the composition of two smooth maps is again smooth we now have a category
of smooth manifolds and smooth maps. The ring of the R-valued smooth function on a
manifold M will be denoted by T(M).
Denition 1.8. A dieomorphism is a smooth map whose inverse is also smooth.
A dieomorphism is therefore an isomorphism in the cathegory smooth manifolds and
maps. In general it is not easy to describe wheter two dierentiable structures in a given
topological manifold are dieomorphic or not.
2
2 The Tangent Space
Let M be a smooth manifold of dimension n.
Denition 2.1. Let p M. Two R-valued functions f, g dened on an open set containing
p are said to have the same germ at p if they agree on some neighbourhood of p. This
denes an equivalence relation of smooth functions dened near p and the equivalence
classes are called germs. We denote them by T
p
.
Remark 2.2. T
p
is an algebra over !.
Denition 2.3. The tangent space T
p
M of a smooth manifold M at a point p is dened to
be the space of all derivations of the algebra T
p
, i.e. the space of all linear maps v : T
p
R
satisfying v(f.g) = f(p)v(g) +g(p)v(f) for each f, g T
p
.
Remark 2.4. T
p
M is a vector space over R. Moreover for any v T
p
M and any constant
germ c, v(c) = 0.
For a coordinate system (U, x) around a point p M with x(p) = a, we will denote
by e
i
=

x
i
, i = 1, . . . , n the tangent vector belonging to T
p
M dened by: e
i
(f) =

x
i
[
x=a
(f ) where = x
1
, a = x(p) and f represents the germ of f at p. We then have
e
i
(x
j
) =
j
i
where x
j
is the germ of the coordinate function x
j
at p.
Proposition 2.5. For any coordinate chart (U, x) around p, the vectors e
i

i=1,...,p
form
a base for T
p
M.
The proof of the proposition depends on the following lemma.
Lemma 2.6. Let (U, x) be a coordinate system centred at p and let f be a smooth function
dened near p. Then there exists n smooth functions f
1
, . . . , f
n
dened near p such that
1. f
i
(p) = e
i
(

f
p
) where

f
p
T
p
is the germ of f at p.
2. f = f(p) +
n
i=1
x
i
f
i
in a neighbourhood of p.
Proof. Let F = f where = f
1
. F is dened on a small ball B around 0 in R
n
. For
any a B we have F(a) F(0) =

1
0
d
dt
F(ta
1
, . . . , ta
n
)dt =
n
i=1
a
i

1
0
D
i
F(ta
1
, . . . , ta
n
)dt
where D
i
F is the i-th partial derivative of F. Now we set F
i
(a) =

1
0
D
i
F(ta
1
, . . . , ta
n
)dt
and let f
i
= F
i
x. This proves the lemma.
Proof. (of Proposition 2.5) We rst show that any v T
p
M can be represented as v =

n
i=1
v( x
i
)e
i
where x
i
T
p
is the germ of x
i
at p. If x(p) ,= 0 we change coordinates to
3
y = x x(p) which is centred at p. We now apply Lemma 2.5 and write any smooth
function f dened near p as f = f(p) +
n
i=1
x
i
f
i
with f
i
C

. Thus
v(

f) = v(

f
i
(p)) + v( y
i
)

f
i
(p) +

y(p)
i
v(

f
i
) =
0 + v( x
i
x
i
(p))

f
i
(p) + 0 = v( x
i
)

f
i
(p) = v( x
i
)e
i
(

f),
since

f
i
(p) =

y
i

f
p
=

x
i

f
p
= e
i

f
p
. If w =
i
e
i
= 0, then 0 = w( x
j
) =
i

j
i
= ambda
j
for all j. Hence, e
i

i=1,...,n
are linearly independent and form a basis of T
p
M.
Denition 2.7. The dierential df
p
at a point p of a smooth map f : M N is dened
to be the linear map df
p
: T
p
M T
q
N where q = f(p) and f

: T
q
T
p
is dened by
f

( g) =

g f for g T
q
.
Remark 2.8. If x and y are local coordinates about p and q, then the matrix representing
df
p
with respect to the basis

x
i
and

y
i
is the Jacobi Matrix of the function F =
y f x
1
, i.e. df
p
(

x
i
) =
F
j
x
i

y
j
Remark 2.9. If c : [a, b] M is a smooth curve on M, [a, b] R, then we denote by c(t)
the tangent vector dc
t
(

t
) T
c(t)M
where t is the standard coordinate of R. For a curve
on M with c(0) = p, it is easily seen that c(0) is the tangent vector given by T
p
R,

f
d
dt
[
t=0
f(c(t)). This leads to the following geometric interpretation of T
p
M. Each
v T
p
M is equal to some c(0) for some curve c(t) with c(0) = p and two curves c
1
and
c
2
with c
1
(0) = c
2
(0) = p dene the same tangent vector, i.e. c
1
(0) = c
2
(0) i for any
coordinate system x about p, we have
d
dt
[
t=0
x(c
1
(t)) =
d
dt
[
t=0
x(c
2
(t)). So we may think
of a tangent vector v
p
as an equivalence class of curves through p, which have the same
tangent at p.
Denition 2.10. The tangent bundle of a dierentiable manifold M is the disjoint union
of all the tangent spaces of M. That is, TM :=

pM
T
p
M. There is a natural projection
that maps each tangent space T
p
M to the single point p dened by : TM M where
: v (v) = p if v T
p
M.
Remark 2.11. If U is an open subset of M,
1
(U) = TU by denition of since
T
p
U = T
p
M for p U.
If (U, x) is a coordinate system for M, then we have the following trivializing map for
TU: (x,

x
) : TU U R
n
R
n
R
n
with v
p
(p, v
1
, . . . , v
n
) (x(p), v
1
, . . . , v
n
).
Here p = (v) and v = v
i
x
i
, v
i
= v( x
i
). The collection of these charts
(
1
(U), (x,

x
)[(U, x) a coordinate system of M)
4
cover TM and we dene a C

dierentiable structure on TM by taking a maximal atlas

compatible with this collection. The topology of TM is also generated by the sets TU.
The transition function between two such charts (x,

x
) (y,

y
) is given by
(y x
1
,
y
i
x
j
) : x(U V ) R
n
y(U V ) R
n
with x(p, a) (y(p), d(y x
1
)(a)). Hence TM becomes a smooth manifold of dimension
2n and : TM M is a smooth map. In addition since TM is a disjoint union of vector
bundles locally trivialized by the above maps
1
= TU U R
n
, it is a vector bundle
in the following sense.
Denition 2.12. A An n-dimensional real vector bundle is a continuous surjective map
: E X between two topological spaces with the following properties:
1. Each bre E
x
=
1
E carries the structure of a vector space over R, such that
the vector space operations are continuous.
2. x X, a neighborouhood U of x and a homeomorphism (I DO NOT KNOW
HOW TO DO THE GRAPH HERE), such that the diagram is commutative and
such that [
E
x
:
1
(x) x R
n
is an homeomorphism of vector spaces for each
x U
E is called the total space and X the base space of the bundle. A map as in Proposition
(?2?) is called a bundle chart.
Denition 2.13. A section of a vector bundle TM

M is a continuous map s : X E
such that s = id
X
Denition 2.14. The vector bundle TM

M is called the tangent bundle. If M

f
N
is a smooth map, then its dierential df is the map df : TM TN, with v
p
df
p
(v
p
)
T
f(p)N
. df is C

and linear on each bre.

3 Vector Fields and Their Flows
5