Tensor Analysis on Manifolds Richard L. Bishop University of Mlinois Samuel |. Goldberg University of Illinois Bibtotsce Dentrale Facoité ingegneria 060312 Dover Publications, Inc. New YorkCopyright © 1968, 1980 by Richard L. Bishop and Samuel I. Goldberg. All rights reserved under Pan American and International Copyright Conventions. This Dover edition, first published in 1980, is an unabridge POLTTECNICO and corrected republication of the work originally publisht BIBL. CENTRALE by The Macmillan Company in 1968. INGEGNERIA International Standard Book Number: 0-486-64039-6 Library of Congress Catalog Card Number: 80-66959 I B Manufactured in the United States of America 9972 Dover Publications, Inc. 31 East 2nd Street, Mineola, N.Y. 11501Preface “Sie bedeutet einen wahren Triumph der durch Gauss, Riemann, Christoffel, Ricci . . . begriindeten Methoden des allgemeinen Differentialcalculus.” ALBERT EINSTEIN, 1915 ‘SINCE ITS DEVELOPMENT BY Ric! between 1887 and 1896, tensor analysis has had a rather restricted outlook despite its striking success as a mathematical tool in the general theory of relativity and its adaptability to a wide range of problems in differential equations, geometry, and physics. The emphasis has been on notation and manipulation of indices. This book is an attempt to broaden this point of view at the stage where the student first encounters the subject. We have treated tensor analysis as a continuation of advanced calcu- lus, and our standards of rigor and logical completeness compare favorably with parallel courses in the curriculum such as complex variable theory and linear algebra. For students in the physical sciences, who acquire mathematical knowledge on a “‘need-to-know” basis, this book provides organization. On the other hand, it can be used by mathematics students as a meaningful introduction to differential geometry. A broad range of notations is explained and interrelated, so the student will be able to continue his studies among either the classical references, those in the style of E. Cartan, or the current abstractions. The material has been organized according to the dictates of mathematical structure, proceeding from the general to the special. The initial chapter has been numbered 0, because it logically precedes the main topics. Thus Chapter 0 establishes notation and gives an outline of a body of theory required to put the remaining chapters on a sound and logical footing. It is intended to be a handy reference but not for systematic study in a course. Chapters 1 and 2 are independent of each other, representing a division of tensor analysis into its function-theoretical and algebraic aspects, respectively. This material is com- bined and developed in several ways in Chapters 3 and 4, without specializa- tion of mathematical structure. In the last two chapters (5 and 6) several important special structures are studied, those in Chapter 6 illustrating how the previous material can be adapted to clarify the ideas of classical mechanics. Advanced calculus and elementary differential equations are the minimum background necessary for the study of this book. The topics in advanced calculus which are essential are the theory of functions of several variables, the implicit function theorem, and (for Chapter 4) multiple integrals. An understanding am