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Front Matter Cambridge University Press 978-0-521-85623-2 - An Introduction to General Relativity and Cosmology Jerzy Plebanski and Andrzej Krasinski Frontmatter More information An Introduction to General Relativity and Cosmology General relativity is a cornerstone of modern physics, and is of major importance in its applications to cosmology. Experts in the field Plebanski´ and Krasinski´ provide a thorough introduction to general relativity to guide the reader through complete derivations of the most important results. An Introduction to General Relativity and Cosmology is a unique text that presents a detailed coverage of cosmology as described by exact methods of relativity and inhomogeneous cosmological models. Geometric, physical and astrophysical properties of inhomogeneous cosmological models and advanced aspects of the Kerr metric are all systematically derived and clearly presented so that the reader can follow and verify all details. The book contains a detailed presentation of many topics that are not found in other textbooks. This textbook for advanced undergraduates and graduates of physics and astronomy will enable students to develop expertise in the mathematical techniques necessary to study general relativity. © Cambridge University Press www.cambridge.org Cambridge University Press 978-0-521-85623-2 - An Introduction to General Relativity and Cosmology Jerzy Plebanski and Andrzej Krasinski Frontmatter More information An Introduction to General Relativity and Cosmology Jerzy Plebanski´ Centro de Investigación y de Estudios Avanzados Instituto Politécnico Nacional Apartado Postal 14-740, 07000 México D.F., Mexico Andrzej Krasinski´ Centrum Astronomiczne im. M. Kopernika, Polska Akademia Nauk, Bartycka 18, 00 716 Warszawa, Poland © Cambridge University Press www.cambridge.org Cambridge University Press 978-0-521-85623-2 - An Introduction to General Relativity and Cosmology Jerzy Plebanski and Andrzej Krasinski Frontmatter More information cambridge university press Cambridge, New York, Melbourne, Madrid, Cape Town, Singapore, Sao˜ Paulo Cambridge University Press The Edinburgh Building, Cambridge CB2 2RU, UK Published in the United States of America by Cambridge University Press, New York www.cambridge.org Information on this title: www.cambridge.org/9780521856232 © J. Plebanski´ and A. Krasinski´ 2006 This publication is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University Press. First published 2006 Printed in the United Kingdom at the University Press, Cambridge A catalogue record for this publication is available from the British Library ISBN-13 978-0-521-85623-2 hardback ISBN-10 0-521-85623-X hardback Cambridge University Press has no responsibility for the persistence or accuracy of URLs for external or third-party internet websites referred to in this publication, and does not guarantee that any content on such websites is, or will remain, accurate or appropriate. © Cambridge University Press www.cambridge.org Cambridge University Press 978-0-521-85623-2 - An Introduction to General Relativity and Cosmology Jerzy Plebanski and Andrzej Krasinski Frontmatter More information Contents List of figures page xiii The scope of this text xvii Acknowledgements xix 1 How the theory of relativity came into being (a brief historical sketch) 1 1.1 Special versus general relativity 1 1.2 Space and inertia in Newtonian physics 1 1.3 Newton’s theory and the orbits of planets 2 1.4 The basic assumptions of general relativity 4 Part I Elements of differential geometry 7 2 A short sketch of 2-dimensional differential geometry 9 2.1 Constructing parallel straight lines in a flat space 9 2.2 Generalisation of the notion of parallelism to curved surfaces 10 3 Tensors, tensor densities 13 3.1 What are tensors good for? 13 3.2 Differentiable manifolds 13 3.3 Scalars 15 3.4 Contravariant vectors 15 3.5 Covariant vectors 16 3.6 Tensors of second rank 16 3.7 Tensor densities 17 3.8 Tensor densities of arbitrary rank 18 3.9 Algebraic properties of tensor densities 18 3.10 Mappings between manifolds 19 3.11 The Levi-Civita symbol 22 3.12 Multidimensional Kronecker deltas 23 3.13 Examples of applications of the Levi-Civita symbol and of the multidimensional Kronecker delta 24 3.14 Exercises 25 v © Cambridge University Press www.cambridge.org Cambridge University Press 978-0-521-85623-2 - An Introduction to General Relativity and Cosmology Jerzy Plebanski and Andrzej Krasinski Frontmatter More information vi Contents 4 Covariant derivatives 26 4.1 Differentiation of tensors 26 4.2 Axioms of the covariant derivative 28 4.3 A field of bases on a manifold and scalar components of tensors 29 4.4 The affine connection 30 4.5 The explicit formula for the covariant derivative of tensor density fields 31 4.6 Exercises 32 5 Parallel transport and geodesic lines 33 5.1 Parallel transport 33 5.2 Geodesic lines 34 5.3 Exercises 35 6 The curvature of a manifold; flat manifolds 36 6.1 The commutator of second covariant derivatives 36 6.2 The commutator of directional covariant derivatives 38 6.3 The relation between curvature and parallel transport 39 6.4 Covariantly constant fields of vector bases 43 6.5 A torsion-free flat manifold 44 6.6 Parallel transport in a flat manifold 44 6.7 Geodesic deviation 45 6.8 Algebraic and differential identities obeyed by the curvature tensor 46 6.9 Exercises 47 7 Riemannian geometry 48 7.1 The metric tensor 48 7.2 Riemann spaces 49 7.3 The signature of a metric, degenerate metrics 49 7.4 Christoffel symbols 51 7.5 The curvature of a Riemann space 51 7.6 Flat Riemann spaces 52 7.7 Subspaces of a Riemann space 53 7.8 Flat Riemann spaces that are globally non-Euclidean 53 7.9 The Riemann curvature versus the normal curvature of a surface 54 7.10 The geodesic line as the line of extremal distance 55 7.11 Mappings between Riemann spaces 56 7.12 Conformally related Riemann spaces 56 7.13 Conformal curvature 58 7.14 Timelike, null and spacelike intervals in a 4-dimensional spacetime 61 7.15 Embeddings of Riemann spaces in Riemann spaces of higher dimension 63 7.16 The Petrov classification 70 7.17 Exercises 72 © Cambridge University Press www.cambridge.org Cambridge University Press 978-0-521-85623-2 - An Introduction to General Relativity and Cosmology Jerzy Plebanski and Andrzej Krasinski Frontmatter More information Contents vii 8 Symmetries of Riemann spaces, invariance of tensors 74 8.1 Symmetry transformations 74 8.2 The Killing equations 75 8.3 The connection between generators and the invariance transformations 77 8.4 Finding the Killing vector fields 78 8.5 Invariance of other tensor fields 79 8.6 The Lie derivative 80 8.7 The algebra of Killing vector fields 81 8.8 Surface-forming vector fields 81 8.9 Spherically symmetric 4-dimensional Riemann spaces 82 8.10 * Conformal Killing fields and their finite basis 86 8.11 * The maximal dimension of an invariance group 89 8.12 Exercises 91 9 Methods to calculate the curvature quickly – Cartan forms and algebraic computer programs 94 9.1 The basis of differential forms 94 9.2 The connection forms 95 9.3 The Riemann tensor 96 9.4 Using computers to calculate the curvature 98 9.5 Exercises 98 10 The spatially homogeneous Bianchi type spacetimes 99 10.1 The Bianchi classification of 3-dimensional Lie algebras 99 10.2 The dimension of the group versus the dimension of the orbit 104 10.3 Action of a group on a manifold 105 10.4 Groups acting transitively, homogeneous spaces 105 10.5 Invariant vector fields 106 10.6 The metrics of the Bianchi-type spacetimes 108 10.7 The isotropic Bianchi-type (Robertson–Walker) spacetimes 109 10.8 Exercises 112 11 * The Petrov classification by the spinor method 113 11.1 What is a spinor? 113 11.2 Translating spinors to tensors and vice versa 114 11.3 The spinor image of the Weyl tensor 116 11.4 The Petrov classification in the spinor representation 116 11.5 The Weyl spinor represented as a 3 × 3 complex matrix 117 11.6 The equivalence of the Penrose classes to the Petrov classes 119 11.7 The Petrov classification by the Debever method 120 11.8 Exercises 122 © Cambridge University Press www.cambridge.org Cambridge University Press 978-0-521-85623-2 - An Introduction to General Relativity and Cosmology Jerzy Plebanski and Andrzej Krasinski Frontmatter More information viii Contents Part II The theory of gravitation 123 12 The Einstein equations and the sources of a gravitational field 125 12.1 Why Riemannian geometry? 125 12.2 Local inertial frames 125 12.3 Trajectories of free motion in Einstein’s theory 126 12.4 Special relativity versus gravitation theory 129 12.5 The Newtonian limit of relativity 130 12.6 Sources of the gravitational field 130 12.7 The Einstein equations 131 12.8 Hilbert’s derivation of the Einstein equations 132 12.9 The Palatini variational principle 136 12.10 The asymptotically Cartesian coordinates and the asymptotically flat spacetime 136 12.11 The Newtonian limit of Einstein’s equations 136 12.12 Examples of sources in the Einstein equations: perfect fluid and dust 140 12.13 Equations of motion of a perfect fluid 143 12.14 The cosmological constant 144 12.15 An example of an exact solution of Einstein’s equations: a Bianchi type I spacetime with dust source 145 12.16 * Other gravitation theories 149 12.16.1 The Brans–Dicke theory 149 12.16.2 The Bergmann–Wagoner theory 150 12.16.3 The conformally invariant Canuto theory 150 12.16.4 The Einstein–Cartan theory 150
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