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Abstract
Space-time manifold plays an important role to express the concepts of Relativity properly. Causality and space-time topology
make easier the geometrical explanation of Minkowski space-time manifold. The Minkowski metric is the simplest empty spacetime manifold in General Relativity, and is in fact the space-time of the Special Relativity. Hence it is the entrance of the General
Relativity and Relativistic Cosmology. No material particle can travel faster than light. So that null space is the boundary of the
space-time manifold. Einstein equation plays an important role in Relativity. Some related definitions and related discussions are
given before explaining the Minkowski geometry. In this paper an attempt has been taken to elucidate the Minkowski geometry in
some details with easier mathematical calculations and diagrams where necessary.
Keywords: Causal structure, Geodesics, Ideal points, Minkowski metric, Space-time manifold.
1 Introduction1
S ( p, r ) = { x : d ( p, x ) < r}.
Let p be a point in a topological space (defined later in
section 2.2) M. A subset N of M is a neighborhood of p iff
N is a superset of an open set O containing p, i.e.,
p O N .
A function f : A B is a subset of A B, such that i) if
1
8G
R g R = 4 T .
2
c
ds 2 = dt 2 + dx 2 + dy 2 + dz 2 .
We have discussed its geometrical properties in
section5.
( )
( )
y 2 = y 2 x1 ,..., x n
(x ,..., x ) on
1
y n = y n x1 ,..., x n
{ U , } where
U are subsets of M
1.
U cover M i.e., M = U ,
2.
If
U U
then
the
map
o : (U U ) (U U )
1
is
(U ) and a point r in (U ) .
n
(U )
o 1
o 1
U U
(U )
Now
1 (r ) = p , ( p ) = ( o 1 ) (r ) = q .
coordinates of q be
).
M has a C r altas
(x ,..., x )
1
Let
and those of r be
y1 = y1 x1 ,..., x n
)
102
( t ) ( ) which is tangent to a
M (figure2). A vector
t0
( t ) ( ) ( f ) = f t ( ) = Lim f [ (t + s )s] f [ (t )] .
t0
s0
t0
(b)
(a )
(t )
If
{x }
i
p = (t 0 ) then we get;
dx i f
f
=
.
t (t0 ) dt x i
I ( p ) = { q M / q << p}.
The causal future (past) of p can be defined as;
.
( t0 )
( x ) ( x )
J ( p ) = { q M / q < p}.
( x )
Chronological future
t q
Causal future J + ( p )
I +(p)
ds 2 = g dx dx ; , = 1,2,3,4
I (p)
(1)
Chronological past
(2)
+
+
I + ( p ) = J + ( p ) and I& ( p ) = J& ( p ) .
103
R
=
; ; +
Riemann tensor R
= 0 . So the simplest empty space-
(3)
).
G = 8T = 0
(11)
(4)
(5)
R = g R
ds 2 = dt 2 + dr 2 + r 2 d 2
(6)
and
0 < r < , 0 < < , 0 < < 2
2
2
d = d + sin d . Here coordinate t is timelike
with
( )
T; = 0 .
Einsteins field equations can be written as [4];
1
8G
R g R = 4 T
2
c
(9)
5 Minkowski Space-time
The Minkowski space-time (M, g) is the simplest empty
space-time in general relativity, and is in fact the space-time
of the special relativity. Mathematically it is the manifold
M = 4 and so that metric (1) for Lorentzian case becomes
[4];
ds 2 = dt 2 + dx2 + dy 2 + dz 2
r , ,
T = ( + p ) u u + pg
(7)
dt
(12)
x x = L x = Lx
(10)
104
(13)
From the above and the fact that these are metric preserving
isometries, it follows that det L = 1 , so the matrix is non-
Minkowski geometry. The geodesics of Minkowski spacetime are the straight lines of the underlying Euclidean
geometry.
An arbitrary event p in the Minkowski space-time is
uniquely determined either by its chronological future
I + ( p ) or past I ( p ) .
If a future directed non-spacelike curve has a future
end point p, then I ( ) = I ( p ) ( I ( ) is the union of all
I (q ) with q being a point on the curve ). On the other
hand, if is future inextensible without any future ideal
x = L1 x = L1 Lx = L2 x ,
(14)
i+
Li = i ;i = 1,2,3,4 ,
x
and
represents
I()
x (e p X ) = X + x ( p ) ,
ep
is finished at
(16)
x = L x + T = Lx + T ,
1 and 2
105
v=t+r,
u =tr
t
(18)
r=0
u = constant
v = constant
I ( 1 )
Figure 5: The timelike curves
1 and 2
( 1 ) = I ( 2 ) .
( )
Figure 6: Future and past light cones are given respectively by the null
surfaces u, v = constant.
(v u ) which gives
1
(u v )2 d2
4
with < u < and < v < .
ds 2 = dudv +
(19)
infinities, and i 0 as representing spacelike infinity (nongeodesic curves do not obey these rules; for example, nongeodesic timelike curves may start on I and end on I +).
Since any Cauchy surface intersects all timelike and null
geodesics, it is clear that it will appear as a cross-section of
the space everywhere reaching the boundary at i 0 .
It is possible to introduce a differential structure as well
as a metric on I +. To see this, we first note that a
convenient way to attach the ideal point boundary I + to M
is to use a suitable conformal factor to obtain a
transformation of the original space-time metric ij , then;
g ij = 2 ij , > 0
2 = 1+ v2
(17)
) (1 + u )
1
2 1
(19) becomes;
106
(20)
1 +
1
1
= P02 = cos ec 4
4
2
ds 2 = 4 2 ds 2 = dpdq + sin 2 ( p q ) d 2 .
d d
= d 2 + sin 2 d 2 .
P02
(21)
ds 2 = du 2 2dudr + r 2
i0
d d .
P02
(24)
Let us substitute u = 2u , l =
conformal factor is =
transformation of (24) becomes;
i0 (regarded
as one point)
I (p)
1
2r
2 l,
ds 2 = 2 ds 2 = 4l 2du2 + 4dudl +
and
then
dd .
P02
the
conformal
(25)
ds 2 = 2 ds 2 = 4l 2du 2 + 4dudl +
Spacelike geodesics
i
Timelike geodesics
(22)
ds 2 =
(23)
1
= e cot ,
2
i
=e
ds 2 = dT 2 + dR 2 + sin 2 R d 2 .
(26)
T = p+q, R= pq
dd .
P02
d d .
P02
= 0 on I .
= (0,1,0,0 ) and g
x
x x
) on the sphere
(27)
1
cot
2
x
smooth everywhere and = 0 at I +, which is a null
1
1
1
hypersurface.
Now, we will discuss the complete light cone at any
given apex point in the space-time. All the known null
geodesic equations of the space-time are given by [2];
1
1
1
d = e cos ec 2 d + i cot d
2
2
2
107
2l 2u& l& = 1 ,
u&& + lu& 2 = 0 ,
&&(1 + ) 2 & 2 = 0 ,
(28)
&& (1 + ) 2&& 2 = 0 ,
4l 2u& 2 4u&&l
&&
P02
u = u0 +
=0.
then
= ei . Now we write;
2
u = u0 +
dl
= 1 l 2b 2
ds
dl
1 l b
2
1
(1 cos ) .
2l 0
(33)
&l > 0 then the ray moves away initially towards the origin
bdl
6 Conclusions
(29)
If &l < 0 then a null ray moves away from the origin, if
d = bds =
l 01 .
For the sheet &l < 0 , cos is positive and &l > 0 ,
cos is negative. Here we have considered only
equatorial plane, so (33) describes only on S 1 worth of null
rays, as we have null rays intersection I +, since we have
restricted ourselves to the equatorial plane. For spherically
symmetry the full cut, which is topologically S 2 , can be
generated by rotating this plane.
1 + &l .
2l 2
ds =
(32)
&l =
1 1 b 2 l 20 .
2l 0
= sin 1 (bl 0 ) .
u = u0 and = 0 . Then,
(30)
1 l 2b 2
References
du
1
1 dl
=
+
.
ds 2l 2 2l 2 ds
du =
dl
2l
1 l b
2 2
dl .
2l 2
(31)
108
109