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General
Relativity
A F irst Examination
Other Related Titles from World Scientific
Stars and Space with MATLAB Apps: With Companion Media Pack
by Dan Green
ISBN: 978-981-121-602-2
ISBN: 978-981-121-635-0 (pbk)
General
Relativity
A F i rs t Examination
Marvin Blecher
Virginia Tech, USA
World Scientific
NEW JERSEY • LONDON • SINGAPORE • BEIJING • SHANGHAI • HONG KONG • TAIPEI • CHENNAI • TOKYO
Published by
World Scientific Publishing Co. Pte. Ltd.
5 Toh Tuck Link, Singapore 596224
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UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE
For photocopying of material in this volume, please pay a copying fee through the Copyright Clearance
Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to photocopy
is not required from the publisher.
Printed in Singapore
v
b2530 International Strategic Relations and China’s National Security: World at the Crossroads
Preface
vii
July 27, 2020 12:54 General Relativity: A First Examination. . . 9in x 6in b3923-fm˙chapters page viii
Acknowledgments
ix
b2530 International Strategic Relations and China’s National Security: World at the Crossroads
Contents
Preface vii
Acknowledgments ix
xi
July 27, 2020 12:54 General Relativity: A First Examination. . . 9in x 6in b3923-fm˙chapters page xii
4. Curvature 55
4.1 Geodesics . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2 Parallel Transport . . . . . . . . . . . . . . . . . . . . . . 59
4.3 Curvature Tensors . . . . . . . . . . . . . . . . . . . . . . 63
4.4 Ricci Tensor, Bianchi Identity, Einstein Tensor . . . . . . 64
Contents xiii
9. Cosmology 183
9.1 Robertson–Walker Metric . . . . . . . . . . . . . . . . . . 183
9.2 The Red Shift . . . . . . . . . . . . . . . . . . . . . . . . 188
9.3 Determining Distance . . . . . . . . . . . . . . . . . . . . 191
9.4 Red Shift Versus Distance Relation . . . . . . . . . . . . . 196
9.5 Fluids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
9.6 Robertson–Walker Einstein Dynamics . . . . . . . . . . . 202
9.7 The Early Universe . . . . . . . . . . . . . . . . . . . . . 206
9.8 Matter and Dark Energy Domination . . . . . . . . . . . 209
Bibliography 217
Index 219
b2530 International Strategic Relations and China’s National Security: World at the Crossroads
Chapter 1
1.1 Introduction
1
July 27, 2020 12:52 General Relativity: A First Examination. . . 9in x 6in b3923-ch01 page 2
Fig. 1.1 Rotation relations for changing unit vectors from one coordinate system to
another.
SR, an observer may suppose that there are synchronized clocks at rest at
every point in space. This would not be the case when gravity is taken into
account, since clocks run at different rates, in a region of varying gravita-
tional strength. Simultaneous events for a given observer are those occurring
at the same time on the clocks nearest them, that are at rest with respect
to the observer.
As will be seen, we live in spacetime of four dimensions where space and
time mix with each other. Thus, spacetime vectors have four components.
By analogy with three space, take as the rectangular components of the
contravariant position vector rμ the coordinates xμ . Then dxμ must also
be the components of the displacement vector drμ , as the difference of two
vectors is also a vector. As of now, these are the only vectors known to us.
In later chapters, when gravity or acceleration may be acting, the symbol
for a set of coordinates may have a bar xμ̄ . This will indicate that these
coordinates are those of an inertial observer using rectangular coordinates.
This is the case for an SR reference frame that is arbitrarily large. When
gravity is present the bar will usually be absent. However, as will be shown,
even when gravity is present, at any point in space one can find a locally
inertial frame. That frame may need be arbitrarily small. The rectangular
coordinates of that frame will have the bar when the set of coordinates
is described. Other coordinate systems or rectangular coordinates of other
inertial reference frames will be represented by the bar and one or more
primes xμ̄ . In such cases, the components of vectors rμ̄ and higher order
tensors T μ̄ν̄ will also have bars.
Einstein developed SR from two postulates: (1) the laws of physics are
the same for all inertial observers no matter their relative velocities; (2) all
inertial observers measure the same speed of light in vacuum c = 3 ×
108 m/s. It is the second postulate that causes conflict with the Newtonian
concept of time flowing independent of everything else. This leads to the
observation, that events simultaneous to one observer may not be so to
another. Also c becomes the limiting speed in order to preserve causality.
In GR, the word “inertial” is removed, and the principle of equivalence:
that no gravitational effect is experienced when freely falling in a region of
uniform gravitational strength, must be taken into account.
In hindsight, it is easy to see where the postulates come from. Various
inertial observers, in empty space and in relative motion, perform electro-
magnetic experiments in their own rest frames. They find that the equa-
B)
tions of Maxwell for the electric, magnetic fields (E, explain the results.
July 27, 2020 12:52 General Relativity: A First Examination. . . 9in x 6in b3923-ch01 page 4
Two observers O and O are considered. They use parallel axes and rect-
angular coordinates. Rotations, like those in Fig. 1.1, allow them to align
their z-axes along the relative velocity. O uses xμ , and says O is moving in
the z-direction with speed V (<1), while O uses xμ , and says O is moving
in the −z-direction with speed V .
When their origins overlapped, the clocks were synchronized t = x0 =
t = x0 = 0. In this geometry, (x, y) = (x , y ) or x1,2 = x1 ,2 , as there is
no relative motion in these directions. However, c = 1 for both observers,
so space and time are interconnected, and now termed spacetime. If O says
that events led to changes in coordinates dz = dx3 and dt = dx0 , the
components of the displacement vector drμ , then O would calculate from
the chain rule of differential calculus,
∂z ∂z ∂z ∂z
dx3 = dz = dz + dt + dx + dy ≡ x3 ,μ dxμ
∂z ∂t ∂x ∂y
= x3 ,3 dx3 + x3 ,0 dx0 , (1.4)
∂t ∂t ∂t ∂t
dx0 = dt =
dz + dt + dx + dy ≡ x0 ,μ dxμ
∂z ∂t ∂x ∂y
= x0 ,3 dx3 + x0 ,0 dx0 . (1.5)
One notes that, similar to rotations, this transform can be represented by
matrix multiplication,
⎛ 0⎞ ⎛ 0 ⎞ ⎛ 0 ⎞
dx x ,0 0 0 x0 ,3 dx
⎜ dx1 ⎟ ⎜ 0 ⎟ ⎜ 1 ⎟
⎜ ⎟ ⎜ 1 0 0 ⎟ ⎜ dx ⎟
⎝ dx2 ⎠ = ⎝ 0 ⎜ ⎟.
0 1 0 ⎠ ⎝ dx2 ⎠
dx3 x3 ,0 0 0 x3 ,3 dx3
This is a linear transform. The vector components appear to the power
unity. The coefficients, the partial derivatives multiplying the O vector
components, are relations between the coordinates of the different frames.
They are independent of the vectors. Such a rule for vector transformation
is not limited to rotations. It works for any coordinate transformation, and
any vector. If each vector had a different transformation rule, there would
be no theory. If a set of four quantities V μ do not transform as above, then
they are not components of a vector.
This transformation does not yield vectors, written in terms of unit vec-
tors êμ , but in terms of basis vectors eμ . The relationship between basis and
July 27, 2020 12:52 General Relativity: A First Examination. . . 9in x 6in b3923-ch01 page 6
Thus,
(dτ )2 = (dτ )2 ,
(1.8)
(dx0 )2 − (dx3 )2 = (dx0 )2 − (dx3 )2 .
The above results force Eq. (1.8) to also hold, for other than light travel.
So dτ is an invariant, a tensor of rank 0, numerically the same in all frames.
The invariant dτ is the proper time, that read on a clock at rest with respect
to the observer. For light travel, assumed in vacuum unless otherwise noted,
dτ = 0. So photons never run out of time, and some created in the very
July 27, 2020 12:52 General Relativity: A First Examination. . . 9in x 6in b3923-ch01 page 7
early universe, are still around. The interval (dS)2 ≡ −(dτ )2 . Although τ
is a member of the Greek alphabet, and could be used as an index, it is
reserved for the proper time.
In order to calculate sinh α and cosh α, O concentrates on the posi-
tion of O . In time period dt, O changes position dz = V dt. However,
O says, “I am at rest while my clock has advanced by dt .” Using Eqs. (1.4)
and (1.5),
t ↔ t , z ↔ z , V → −V,
(1.11)
γ = x0 ,0 = x3 ,3 , −γV = x0 ,3 = x3 ,0 .
Note that for low speeds (1 − V 2 )−1/2 → 1, and the Galilean transform is
recovered.
According to O , if dt < 0, the target is hit before the bullet is fired. That
would violate causality, and can happen only if vb > 1. Thus, c = 1 is the
limiting speed.
Now consider the comparison of clocks. Observer O and clock A are
spatially coincident. Other clocks B, C, . . . are at rest with respect to
O, and read the same time as A. Observer O and clock B are spatially
coincident. Other clocks A , C , . . . are at rest with respect to O , and read
the same time as B . All the clocks are synchronized, when A and B are
spatially coincident. Since O says A is at rest, when it has ticked off a time
period dt = dτ , as in Fig. 1.2, what will the clocks of O read? O concludes
that clock C is now spatially coincident with clock A. The times on these
two clocks can be compared. O says A has ticked off dτ , while remaining
This result is called time dilation. Time and all processes related to it
run slower for O, who considers herself at rest, as compared with those of
O , who O sees moving. So A ticks slower. Also the heart rate, and other
biological rates of O are slower.
Alternately, O considers B at rest, as in Fig. 1.3. When it has ticked off
time dt = dτ , what will the clocks at rest with respect to O read? According
to O , clock B has moved into spatial coincidence with clock B . The times
on these two clocks can be compared. From the Lorentz transform,
Now time and all processes related to it run slower for O , who considers
himself at rest, as compared with those of O, who O sees moving. So B
ticks slower, and the biological rates of O are slower.
July 27, 2020 12:52 General Relativity: A First Examination. . . 9in x 6in b3923-ch01 page 10
dz = γdz,
L(rest) = γL(moving) > L(moving). (1.12)
Fig. 1.4 Travel distance of speedy muons: top, bottom are the lab, muon views.
Fig. 1.5 Light cone physics, top for various travelers, bottom for separated galaxies.
A, B, C, D, and O can get there only from the past triangle, obtained by
extending B and C backwards in time.
Relative to the axes of O, the time and space axes (t , z ) of frame O ,
in which D is at rest, can be drawn with hyperbolic angle α = tanh−1 V .
This is because the Lorentz transform requires,
Problems
= (V 1 , V 2 , V 3 ) = |V
V |(sin a cos b, sin a sin b, cos a).
July 27, 2020 12:52 General Relativity: A First Examination. . . 9in x 6in b3923-ch01 page 14
Hanalei, the cold land, the wet Hanalei aina anuanu, aina
land, koekoe,
The land where the end is. Aina a ka pea i noho ai,
For Kauahoa, the stalwart youth Ea Kauahoa ka ui o Hanalei.
of Hanalei, is here.
“These are all the men that are Olelo hou mai o Aikanaka: “O na
left on the hill,” continued kanaka iho la no ia o ka puu i
Aikanaka. “Not very many. All the koe, aohe mahuahua, ua pau loa
men are dead.” After Aikanaka na kanaka i ka make.” A pau ka
had told Kawelo of this, he then hai ana aku a Aikanaka ia
addressed his priests, fortune- Kawelo, olelo aku la ia i kana
tellers and astrologers: “I must mau kahuna, a me na kilo, ke
go down and meet Kawelo.” 64 kuhikuhipuuone: “E iho au e ike
Said Aikanaka to the priests: “I me Kawelo.” Wahi a Aikanaka i
thought this land that Kawelo is na kahuna: “Kai no paha no
battling for belonged to him, but Kawelo nei aina e kaua mai nei,
[I see] it is not. It is my own; I am aole ka! No’u no. Owau no
above, he is underneath.” The maluna, oia no malalo.” I mai na
priests then said to Aikanaka: kahuna ia Aikanaka: “Pehea oe
“How can you go and meet e hele aku ai e ike, he ’lii oe, he
Kawelo, for you are a king and kauwa ia, he helu elelu kona
he is a servant. His grandfather kupuna, no ka uka ae nei o
was nothing but a counter of Kulahuhu la, o Nahanaimoa ka
cockroaches who lived in the inoa.”
uplands of Kulahuhu,
Nahanaimoa by name.”