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Differential Geometry
of Manifolds
Second Edition
Textbooks in Mathematics
Series editors:
Al Boggess and Ken Rosen
https://www.crcpress.com/Textbooks-in-Mathematics/book-series/CANDHTEXBOOMTH
Differential Geometry
of Manifolds
Second Edition
Stephen Lovett
CRC Press
Taylor & Francis Group
6000 Broken Sound Parkway NW, Suite 300
Boca Raton, FL 33487-2742
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Preface vii
Acknowledgements xiii
2 Variable Frames 39
2.1 Frames Associated to Coordinate Systems . . . . . . . . . . . . . . . 39
2.2 Frames Associated to Trajectories . . . . . . . . . . . . . . . . . . . 49
2.3 Variable Frames and Matrix Functions . . . . . . . . . . . . . . . . . 57
3 Differentiable Manifolds 65
3.1 Definitions and Examples . . . . . . . . . . . . . . . . . . . . . . . . 66
3.2 Differentiable Maps between Manifolds . . . . . . . . . . . . . . . . . 79
3.3 Tangent Spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.4 The Differential of a Differentiable Map . . . . . . . . . . . . . . . . 91
3.5 Manifolds with Boundaries . . . . . . . . . . . . . . . . . . . . . . . 97
3.6 Immersions, Submersions, and Submanifolds . . . . . . . . . . . . . . 102
3.7 Orientability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
v
vi Contents
Bibliography 424
Index 429
Preface
vii
viii Preface
of this book is the development and description of the types of geometric sets on
which it is possible to “do calculus.” This leads to the definition of differentiable
manifolds. A second, and somewhat obvious, theme is how to actually do calculus
(measure rates of change of functions or interdependent variables) on manifolds. A
third general theme is how to “do geometry” (measure distances, areas and angles)
on such geometric objects. This theme leads us to the notion of a Riemannian
manifold.
Applications of differential geometry outside of mathematics first arise in me-
chanics in the study of the dynamics of a moving particle or system of particles.
The study of inertial frames is in common to both physics and differential geome-
try. Most importantly, however, differential geometry is necessary to study physical
systems that involve functions on curved spaces. For example, just to make sense of
directional derivatives of the surface temperature at a point on the earth (a sphere)
requires analysis on manifolds. The study of mechanics and electromagnetism on
a curved surface also requires analysis on a manifold. Finally, arguably the most
revolutionary application of differential geometry to physics came from Einstein’s
theory of general relativity, in which spacetime becomes curved in the presence of
mass/energy.
Organization of Topics
A typical calculus sequence analyzes one variable real functions (R → R), paramet-
ric curves (R → Rn ), multivariable functions (Rn → R) and vector fields (R2 → R2
or R3 → R3 ). This does not quite reach the full generality necessary for the defi-
nition of manifolds. Chapter 1 presents the analysis of functions f : Rn → Rm for
any positive integers n and m.
Chapter 2 discusses the concept and calculus of variable frames. Variable frames
arise naturally when using curvilinear coordinates, in the differential geometry of
curves (see Chapters 1, 3, and 8 of [5]), and, in physics, in the mechanics of a mov-
ing particle. In special relativity, of critical importance are momentarily comoving
reference frames (MCRFs), which are yet other examples of variable frames. Im-
plicit in our treatment of variable frames is a view toward Lie algebras. However,
to retain the chosen level of this book, we do not develop that theory here.
Chapter 3 defines the category of differentiable manifolds. Manifolds serve as the
appropriate and most complete generalization to higher dimensions of regular curves
and regular surfaces. The chapter also introduces the definition for the tangent space
on a manifold and attempts to provide the underlying intuition behind the abstract
definitions.
Before jumping into the analysis on manifolds, Chapter 4 introduces some neces-
sary background in multilinear algebra. We focus on bilinear forms, dual spaces, au-
tomorphisms of nondegenerate bilinear forms, and tensor products of vector spaces.
Chapter 5 then develops the analysis on differentiable manifolds, including the
differentials of functions between manifolds, vector fields, differential forms, and
Preface ix
integration.
Chapter 6 introduces Riemannian geometry without any pretention of being
comprehensive. One can easily take an entire course on Riemannian geometry, the
proper context in which one can do both calculus and geometry on a curved space.
The chapter introduces the notions of metrics, connections, geodesics, parallel trans-
port and the curvature tensor.
Having developed the technical machinery of manifolds, in Chapter 7 we apply
our the theory to a few areas in physics. We consider the Hamiltonian formulation
of dynamics, with a view toward symplectic manifolds; the tensorial formulation of
electromagnetism; a few geometric concepts involved in string theory, namely the
properties of the world sheet which describes a string moving in a Minkowski space;
and some fundamental concepts in general relativity.
In order to be rigorous and still only require the standard core in most under-
graduate math programs, three appendices provide any necessary background from
topology, calculus of variations, and a few additional results from multilinear alge-
bra. The reader without any background in analysis would be served by consulting
Appendix A on point set topology before Chapter 3.
Notation
It has been said jokingly that “differential geometry is the study of things that are
invariant under a change of notation.” A quick perusal of the literature on differ-
ential geometry shows that mathematicians and physicists usually present topics in
this field in a variety of different ways. One could argue that notational differences
have contributed to a communication gap between mathematicians and physicists.
In addition, the classical and modern formulations of many differential geometric
concepts vary significantly. Whenever different notations or modes of presentation
exist for a topic (e.g. differentials, metric tensor, tensor fields), this book attempts
to provide an explicit coordination between the notation variances.
As a comment on vector and tensor notation, this book consistently uses the
following conventions. A vector or vector function in a Euclidean vector space is
~
denoted by ~v , X(t) ~
or X(u, v). Vectors in an arbitrary vector space, curves on
manifolds, tangent vectors to a manifold, vector fields or tensor fields have no over-
right-arrow designation and are written, for example, as v, γ, X or T . A fair
number of physics texts use a bold font like g or A to indicate tensors or tensor
fields. Therefore, when discussing tensors taken from a physics context, we also use
that notation.
Different texts also employ a variety of notations to express the coordinates of a
vector with respect to a given basis. In this textbook, we regularly use the following
notation. If V is a vector space with an ordered basis B = (e1 , e2 , . . . , en ), then the
coordinates of a vector v ∈ V with respect to B are denoted by [v]B . More precisely,
v1
v2
[v]B = . if and only if v = v1 e1 + v2 e2 + · · · + vn en .
..
vn
for all v ∈ V .
The authors of [6] chose the following notations for certain specific objects of
interest in differential geometry of curves and surfaces. Often γ indicates a curve
parametrized by X(t) ~ ~
while writing X(t) ~
= X(u(t), v(t)) indicates a curve on a
surface. The unit tangent and the binormal vectors of a curve in space are written
in the standard notation T~ (t) and B(t)~ but the principal normal is written P~ (t),
reserving N ~ (t) to refer to the unit normal vector to a curve on a surface. For a
plane curve, U ~ (t) is the vector obtained by rotating T~ (t) by a positive angle of π/2.
Furthermore, we denote by κg (t) the curvature of a plane curve to identify it as the
geodesic curvature of a curve on a surface. When these concepts occur in this text,
we use the same conventions as [6].
Occasionally, there arise irreconcilable discrepancies in habits of notation, e.g.,
how to place the signs on a Minkowski metric, how one defines θ and φ in spherical
coordinates, what units to use in electromagnetism, etc. In these instances the text
makes a choice that best suits its purpose and philosophical leanings, and indicates
commonly used alternatives.
how to decompose the partial derivatives in a frame of vector fields augurs the
definition of a connection on a manifold.
Most of the exercises remained the same, though we improved the statements of
some and modified the challenge level of the computations for others. In addition,
we added a few new interesting problems.
Acknowledgments
I would first like to thank Thomas Banchoff my teacher, mentor and friend. After
one class, he invited me to join his team of students on developing electronic books
for differential geometry and multivariable calculus. Despite ultimately specializing
in algebra, the exciting projects he led and his inspiring course in differential ge-
ometry instilled in me a passion for differential geometry. His ability to introduce
differential geometry as a visually stimulating and mathematically interesting topic
served as one of my personal motivations for writing this book.
I am grateful to the students and former colleagues at Eastern Nazarene College.
In particular I would like to acknowledge the undergraduate students who served
as a sounding board for the first draft of this manuscript: Luke Cochran, David
Constantine, Joseph Cox, Stephen Mapes, and Chris Young. Special thanks are due
to my colleagues Karl Giberson, Lee Hammerstrom and John Free. In addition, I
am indebted to Ellie Waal who helped with editing and index creation.
The continued support from my colleagues at Wheaton College made writing
the first edition of this text a gratifying project. In particular, I must thank Terry
Perciante, Chair of the Department of Mathematics and Computer Science, for
his enthusiasm and his interest. I am indebted to Dorothy Chapell, Dean of the
Natural and Social Sciences, and to Stanton Jones, Provost of the College, for their
encouragement and for a grant which freed up my time to finish writing. I am also
grateful to Thomas VanDrunen and Darren Craig.
In preparation for the second edition, I need to thank Cole Adams, Dave Broad-
dus, Matthew McMillan, and Edwin Townsend for insightful feedback on the first
edition. Their comments on exercises and content significantly improved on the
first edition.
Finally, I am always grateful to my wife Carla Favreau Lovett and my daughter
Anne. While I was absorbed in writing the first edition, they braved the significant
time commitment and encouraged me at every step. They also continue to kindly
put up with my occasional geometry musings such as how to see the Gaussian
curvature in the reflection of the Cloud Gate in Chicago.
xiii
CHAPTER 1
~x = (x1 , x2 , . . . , xn ),
1
2 1. Analysis of Multivariable Functions
Example 1.2.12. Consider the function F (s, t) = (s2 − t2 , 2st) from R2 to itself.
We will calculate
√ the directional derivative of F at ~x0 = (1, 2) in the direction of
~u = (1/2, − 3/2).
We can picture this kind of function by plotting a discrete set of coordinate
lines mapped under F (see Figure 1.4). However, for functions like F that are not
injective, even this method of picturing F can be misleading since every point in
the codomain can have multiple preimages.
Now,
√ √
1 2 3 2 1 3
F (~x0 + t~u) = (1 + t) − (2 − t) , 2(1 + t)(2 − t)
2 2 2 2
√ √ √
= − 3 + (2 + 4 3)t − 2t2 , 4 + (4 − 2 3)t − 2 3t2 ,
so
√ √ √ √ √
D~u F (~x0 ) = (2 + 4 3) − 4t, (4 − 2 3) − 4 3t = (2 + 4 3, 4 − 2 3).
t=0
Figure 1.4 shows the curve F (~x0 + t~u) and illustrates the directional derivative
as being the derivative of F (~x0 + t~u) at t = 0. The figure shows that though ~u must
be a unit vector, the directional derivative is usually not.
Let F be a function from an open set U ⊂ Rn to Rm . For any point ~x0 ∈ U ,
the directional derivative of F in the direction ~uk at ~x0 is called the kth partial
derivative of F at ~x0 . The kth partial derivative of F is itself a vector function
possibly defined on a smaller set than U . Writing
F (~x) = F1 (x1 , . . . , xn ), . . . , Fm (x1 , . . . , xn ) ,
some common notations for the kth partial derivative D~uk F are
∂F
Fxk , , Dk F, F,k .
∂xk
In the last notation, the comma distinguishes the derivative operation from an
index. It is not hard to show that
∂F ∂F
1 ∂Fm
(~x) = (x1 , . . . , xn ), . . . , (x1 , . . . , xn ) .
∂xk ∂xk ∂xk
Example 1.2.13. Consider the real-valued function f (x1 , x2 ) defined by
2
x1 x2 , if (x , x ) 6= (0, 0),
1 2
f (x1 , x2 ) = x21 + x42
0, otherwise.
SI-NGAN-FU,
SINGAN FU, The Chinese Imperial Court at.
SIRDAR, Egyptian.
SLAVERY: A. D. 1885.
Emancipation in Cuba.
SLAVERY: A. D. 1895.
New anti-slavery law in Egypt.
SLAVERY: A. D. 1896.
Abolition in Madagascar.
SLAVERY: A. D. 1897.
Compulsory labor in Rhodesia.
SLAVERY: A. D. 1897.
Subjugation of Fulah slave raiders in Nupé and Ilorin.
SLAVERY: A. D. 1899.
Forced labor in Congo State.
SLESWICK:
Complaints of German treatment.
BELGIUM: A. D. 1894-1895;
SWITZERLAND: A. D. 1894-1898;
SOKOTO.
SOUDAN.
See (in this volume)
SUDAN.
{456}
(d) That the South African Colonies and States, either each
for itself or in conjunction with one another, shall
regulate their own native affairs, employing thereto the
forces of the land by means of a satisfactory burgher law;
and
(f) The watching over the public honor, and against the
adulteration of the necessaries of life, and the defiling
of ground, water, or air, as well as against the spreading
of infectious diseases.
See, in volume 4,
SOUTH AFRICA: A. D. 1885-1893.
{457}
{458}
Edward Dicey,
British Suzerainty in the Transvaal
(Nineteenth Century, October, 1897).
In its preamble, the Convention of 1884 recites that—"Whereas
the Government of the Transvaal State, through its Delegates,
consisting of [Kruger, Du Toit and Smit], have represented
that the Convention signed at Pretoria on the 3rd day of
August, 1881, and ratified by the Volksraad of the said State
on the 25th of October, 1881, contains certain provisions
which are inconvenient, and imposes burdens and obligations
from which the said State is desirous to be relieved, and that
the south-western boundaries fixed by the said Convention
should be amended with a view to promote the peace and good
order of the said State, … now, therefore, Her Majesty has
been pleased to direct," &c.—substituting the articles of a
new Convention for those signed and ratified in 1881.
Articles XIV. and XV. read thus: Article XIV. "All persons,
other than natives, conforming themselves to the laws of the
South African Republic, (a) will have full liberty, with their
families, to enter, travel or reside in any part of the South
African Republic; (b) they will be entitled to hire or possess
houses, manufactories, warehouses, shops and premises; (c)
they may carry on their commerce either in person or by any
agents whom they may think fit to employ; (d) they will not be
subject, in respect of their persons or property, or in
respect of their commerce or industry, to any taxes, whether
general or local, other than those which are or may be imposed
upon citizens of the said Republic." Article XV. "All persons,
other than natives, who establish their domicile in the
Transvaal between the 12th day of April, 1877, and the 8th day
of August, 1881, and who within twelve months after such last
mentioned date have had their names registered by the British
resident, shall be exempt from all compulsory military service
whatever." Article XVI. provides for a future extradition
treaty; XVII. for the payment of debts in the same currency in
which they were contracted; XVIII. establishes the validity of
certain land grants; XIX. secures certain rights to the
natives; XX. nullifies the Convention if not ratified by the
Volksraad within six months from the date of its
signature—February 27, 1884.
{459}
1st.
The settlement of the boundary, especially on the western
border of the Republic, in which the deputation eventually
acquiesced only under the express conditions with which the
Raad agree.
2nd.
The right of veto reserved to the British Crown upon treaties
to be concluded by the Republic with foreign powers; and
3rd.
The settlement of the debt.
Also in:
State Papers, British and Foreign, volume 75.
"It was not until 1884 that England heard of the presence of
gold in South Africa. A man named Fred Stuben, who had spent
several years in the country, spread such marvellous reports
of the underground wealth of the Transvaal that only a short
time elapsed before hundreds of prospectors and miners left
England for South Africa. When the first prospectors
discovered auriferous veins of wonderful quality on a farm
called Sterkfontein, the gold boom had its birth. It required
the lapse of only a short time for the news to reach Europe,
America, and Australia, and immediately thereafter that vast
and widely scattered army of men and women which constantly
awaits the announcement of new discoveries of gold was set in
motion toward the Randt [the Witwatersrand or
Whitewatersridge]. … In December, 1885, the first stamp mill
was erected for the purpose of crushing the gneiss rock in
which the gold lay hidden. This enterprise marks the real
beginning of the gold fields of the Randt, which now yield one
third of the world's total product of the precious metal. The
advent of thousands of foreigners was a boon to the Boers, who
owned the large farms on which the auriferous veins were
located. Options on farms that were of little value a short
time before were sold at incredible figures, and the prices
paid for small claims would have purchased farms of thousands
of acres two years before. In July, 1886, the Government
opened nine farms to the miners, and all have since become the
best properties on the Randt. … On the Randt the California
scenes of '49 were being re-enacted. Tents and houses of sheet
iron were erected with picturesque lack of beauty and
uniformity, and during the latter part of 1886 the community
had reached such proportions that the Government marked off a
township and called it Johannesburg. The Government, which
owned the greater part of the land, held three sales of
building lots, or 'stands,' as they are called in the
Transvaal, and realized more than $300,000 from the sales. …
Millions were secured in England and Europe for the
development of the mines, and the individual miner sold his
claims to companies with unlimited capital. The incredibly
large dividends that were realized by some of the investors
led to too heavy investments in the Stock Exchange in 1889,
and a panic resulted. Investors lost thousands of pounds, and
for several months the future of the gold fields appeared to
be most gloomy. The opening of the railway to Johannesburg and
the re-establishment of stock values caused a renewal of
confidence, and the growth and development of the Randt was
imbued with renewed vigour. Owing to the Boers' lack of
training and consequent inability to share in the development
of the gold fields, the new industry remained almost entirely
in the hands of the newcomers, the Uitlanders [so called in
the language of the Boers], and two totally different
communities were created in the republic. The Uitlanders, who,
in 1890, numbered about 100,000, lived almost exclusively in
Johannesburg and the suburbs along the Randt. The Boers,
having disposed of their farms and lands on the Randt, were
obliged to occupy the other parts of the republic, where they
could follow their pastoral and agricultural pursuits. The
natural contempt which the Englishmen, who composed the
majority of the Uitlander population, always have for persons
and races not their intellectual or social equals, soon
created a gulf between the Boers and the newcomers."
H. C. Hillegas,
Oom Paul's People,
chapter 3
(with permission of D. Appleton & Co., copyright, 1899).
A. P. Hillier,
Raid and Reform,
pages 24-29 (London: Macmillan & Co.).
SOUTH AFRICA:
Portuguese Possessions: A. D. 1891.
Delagoa Bay Railway question.
SOUTH AFRICA:
The Transvaal: A. D. 1894.
Estimated population.