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Differential Topology by Guillemin & Pollack Solutions

Christopher Eur

May 15, 2014

In the winter of 2013-2014, I decided to write up complete solutions to the starred exercises in
Differential Topology by Guillemin and Pollack. There are also solutions or brief notes on non-
starred ones. Please email errata to ceur@college.harvard.edu.
Notation: A neighborhood is always assumed to be an open neighborhood. A graph of a function
f is denoted Γ(f ).

Contents
1 Chapter 1: Manifolds and Smooth Maps 2
1.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Derivatives and Tangents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 The Inverse Function Theorem and Immersions . . . . . . . . . . . . . . . . . . . . . 6
1.4 Submersions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.5 Transversality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.6 Homotopy and Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.7 Sard’s Theorem and Morse Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.8 Embedding Manifolds in Euclidean Space . . . . . . . . . . . . . . . . . . . . . . . . 14

2 Chapter 2. Transversality and Intersection 16


2.1 Manifolds with Boundary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Transversality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1
1 Chapter 1: Manifolds and Smooth Maps
1.1 Definitions
Exercise 1 (1.1.2). If X ⊂ RN , Z ⊂ X, and f : X → Rm is smooth / diffeomorphic, then f |Z is
also smooth / diffeomorphic.

Solution) It suffices to show the smooth part (then apply it to the inverse map to get diffeomor-
phism). Fix any z ∈ Z ⊂ X. Since f : X → Rm is smooth, there exists z ∈ U ⊂ RN open (i.e.
X ∩ U a neighborhood of z ∈ X) and F : U → Rm smooth such that F = f on X ∩ U . Now, U ∩ Z
is a neighborhood of z ∈ Z such that F = f |Z on Z ∩ U . 

Exercise 2 (1.1.3). Let X ⊂ RN , Y ⊂ RM , Z ⊂ RL , and let f : X → Y, g : Y → Z. Then:


f and g are smooth / diffeomorphism ⇒ g ◦ f : X → Z is smooth / diffeomorphism.

Solution) It suffices to show the smooth part (diffeomorphism part follows easily). Note that
this is true when X, Y , Z are open subsets of RN , RM , RL (Chain Rule from calculus). Now fix
any x ∈ X, y := f (x). We have y ∈ V ⊂ RM open with G : V → RL smooth, and x ∈ U ⊂ RN open
with F : U → V smooth (if necessary by replacing U with U ∩ f −1 (V )), and F = f on X ∩ U , G = g
on Y ∩ V . Then G ◦ F : U → RL is smooth, and G ◦ F = g ◦ f on X ∩ U since f (X ∩ U ) ⊂ (Y ∩ V )
by construction. 

Exercise 3 (1.1.4). Show that any open ball Br (0) in Rk is diffeomorphic to Rk , and hence, if X
is a k-dimensional manifold then every point in X has a neighborhood diffeomorphic to Rk .

Solution) Consider the maps


rx ry
Br (0) → Rk , x 7→ p and Rk → Br (0), y 7→ p
r − kxk2
2 r + kyk2
2

They are mutual inverses, and by the previous exercise both are smooth (lots of composition of
smooth maps). Lastly, if x ∈ X and φ : U → X is local parametrization at x, then take (for
small enough r > 0) Br (φ−1 (x)) ⊂ U so that φ|Br is also a local parametrization at x. With
diffeomorphism ψ : Rk → Br , we have a local parametrization φ|Br ◦ ψ : Rk → X at x. 

Exercise 4 (1.1.5). Every k-dimensional vector subspace V of RN is a manifold diffeomorphic to Rk ,


all linear maps on V are smooth, and if φ : Rk → V is a linear isomorphism, then the corresponding
coordinate functions are linear functionals on V (called linear coordinates).

Solution) Lemma: every linear transformation L : Rn → Rm is smooth (∵ dLx = L ∀x ∈ Rn ),


and note that any linear map on V is smooth since it extends to a linear map on RN .
Now, by choosing a basis of V we have an isomorphism φ : V → Rk , which we can extend to a
linear map φe : RN → Rk . So, φ is smooth, φ−1 : Rk → V ⊂ RN (linear) is also smooth, and thus V
is a manifold diffeomorphic to Rk .
Let φ := (x1 , . . . , xk ). Since xi = πi ◦ φ, each xi is a linear functional on V (projections
πi : RN → R is linear). 

2
Exercise 5 (1.1.6, 7, 8). Smooth bijection need not be diffeomorphism. Union of two coordinate
axes in R2 is not a manifold; hyperboloid in R3 defined by x2 + y 2 − z 2 = a, a > 0 is a manifold
(not when a = 0).

Solution) f : R → R via f (x) = x3 is smooth and bijective but f −1 (x) = 3 x is not smooth at x =
0. When (0, 0) is removed from {x = 0} ∪ {y = 0} we get four disconnected components,but R − {∗}
has two components, and Rn − {∗} is connected for n ≥ 2. Lastly,√if H is the hyperboloid, H + and
H − can be parametrized by R2 − Ba (0) → R3 via(u, v) 7→ (u, v, ± u2 + v 2 − a),√and for (x, y, 0) ∈
H ∩ {z = 0}, it also has a local parametrization Ba (0) → R3 via (u, v) 7→ (± a + u2 − v 2 , u, v)
(switch x, y if necessary). When a = 0, (0, 0, 0) has no neighborhood diffeomorphic to R2 (again use
connectivity argument).

Exercise 6 (1.1.12,13). Let S k ⊂ Rk+1 sphere, and N = (0, . . . , 0, 1) the north pole. Then the
stereographic projection π : S k − {N } → Rk is a diffeomorphism.

Solutions) Direct computation yields the maps explicitly:


 
u1 uk
π : (u1 , . . . , uk+1 ) 7→ ,...,
1 − uk+1 1 − uk+1

x21 + · · · x2k − 1
 
−1 2x1 2xk
π : (x1 , . . . , xk ) 7→ ,..., 2 ,
x21 + · · · x2k + 1 x1 + · · · x2k + 1 x21 + · · · x2k + 1
and that π, π −1 are smooth follows from [1.1.3] and that they are mutual inverses is checked by
direct computation. (This also shows that S k is a k-dimensional manifold). 

Exercise 7 (1.1.14,15). If f : X → X 0 , g : Y → Y 0 smooth, then the product map f ×g : X ×Y →


X 0 × Y 0 defined by (x, y) 7→ (f (x), g(y)) is smooth. Hence, if f, g are diffeomorphisms, f × g is also
a diffeomorphism. Lastly, projection map X × Y → X is smooth.

Solution) Note that for A, A0 ⊂ X and B, B 0 ⊂ Y , (A×B)∩(A0 ×B 0 ) = (A∩A0 )×(B∩B 0 ) ⊂ X ×Y


(NOT true for unions). Also, it is easy to check that f × g is smooth when X, Y are open subsets
(∵ f × g = (f1 , . . . , fN 0 , g1 , . . . , gM 0 )), so taking neighborhoods U , V of X, Y with F, G smooth,
F × G = f × g on (X ∩ U ) × (Y ∩ V ).
If f, g are diffeomorphisms, f −1 × g −1 is smooth inverse of f × g. Finally, X × Y → X is smooth
since RN × RM → RN is smooth (in fact the Jacobian looks like [IN | 0]). 

Exercise 8 (1.1.16,17). Let f : X → Y be smooth, and define fe : X → Γ(f ) by x 7→ (x, f (x)).


Then fe is a diffeomorphism (hence if X a manifold so is Γ(f )).

Solution) Lemma: the diagonal map ∆ : X → X × X, x 7→ (x, x) is a diffeomorphism (∵


∆ : RN → RN × RN has Jacobian [IN | IN ]t so it is smooth; the inverse map is same as projection
so it is smooth). Now, using the lemma and the previous exercise, fe = (Id ×f ) ◦ ∆ is smooth. The
inverse map is same as the projection map, so it is smooth, so fe is a diffeomorphism. 

3
Exercise 9 (1.1.18). Let 0 < a < b. The function f : R → R defined by
 −1/x2
e x>0
f (x) =
0 x≤0

is smooth. g(x) := fR(x − a)f (b − x) is a smooth map, and is positive on (a, b) and zero elsewhere.
x
−∞ gdx
Moreover, h(x) := R ∞ is also smooth with the property that h(x) = 0 for x ≤ a, h(x) = 1
−∞ gdx
for x ≥ b, and 0 < h(x) < 1 for x ∈ (a, b) (h is also non-decreasing). Lastly, construct a smooth
function H : Rk → R that is 1 on B a , 0 on Rk − Bb , and (0, 1) otherwise.
2
Solution) f is smooth: for x > 0 the ith derivative of f is of the form (rational polynomial)e−1/x
hence limx→0 f (i) (x) = 0, ∀i = 0, 1, . . .. Addition/multiplication by a constant and (x, y) 7→ xy are
smooth maps, so g is smooth with desired property. Lastly, h is smooth with desired property by
Fundamental Theorem of Calculus. Now note that Rk → R, x 7→ kxk is smooth, so x 7→ 1 − h(kxk)
is the desired function H. 

1.2 Derivatives and Tangents


Note: When the context is clear, X, Y are assumed to be manifolds (of dimension Rk , Rl residing
in RN , RM ).

Exercise 10 (1.2.1,2). Let X ⊂ Y be a submanifold, and j : X ,→ Y be the inclusion map. Then


∀x ∈ X, djx : Tx (X) ,→ Tx (Y ) is injective—in fact it is an inclusion. If U
e is a open subset of a
manifold X, Tx (U ) = Tx (X) for x ∈ U .
e e

Solution) Lemma: if X is a manifold, x ∈ X, and φ : U → X is a local parametrization with


φ(0) = x, then (dφ0 )−1 = d(φ−1 )x (∵ Exercise [1.2.4]). Now, let x ∈ X, φ : U → X, ψ : V → Y be
local parametrizations (U ⊂ Rk , V ⊂ Rl open, φ(0) = x = ψ(0)). Note that ψ −1 ◦ j ◦ φ = ψ −1 ◦ φ,
and so we have djx = dψ0 ◦ d(ψ −1 ◦ φ)0 ◦ (dφ0 )−1 = dψ0 ◦ d(ψ −1 )y ◦ dφ0 ◦ (dφ0 )−1 = Id (∵ first
equality by definition, second by chain rule, third by lemma). 

Exercise 11 (1.2.3+α). Let V ⊂ RN be a vector subspace. Then ∀x ∈ V , Tx (V ) = V . Moreover,


if L : V → RM is a linear map, then for x ∈ V , dLx = L.

Solution) By choosing basis we have linear isomorphism φ : Rk → V , and φ = dφu for φ(u) ∈ V ,
hence Tx (V ) = V . The remaining statement follows from [Exercise 17]; extend L to a linear map
on the whole RN , then apply [Exercise 17] and Tx (V ) = V . 

Exercise 12 (1.2.4). Let f : X → Y is a (local) diffeomorphism and x ∈ X, y := f (x), then the



linear map dfx : Tx (X) → Ty (Y ) is an isomorphism. In fact, (dfx )−1 = d(f −1 )x .

Solution) Let f −1 be the smooth (local) inverse map. Obviously, d Id = Id, so from the chain
rule we have Id = d(f ◦ f −1 )y = dfx ◦ d(f −1 )y , and likewise, d(f −1 )y ◦ dfx = Id. 

4
Exercise 13 (1.2.8). What is the tangent space to the hyperboloid defined by x2 + y 2 − z 2 = a at

( a, 0, 0) (a > 0)?
Solution) As in [1.1.8], we have
 a local parametrization φ : Ba (0) → R3 given by (u, v) 7→
√ u(a + u2 − v 2 )−1/2 −v(a + u2 − v 2 )−1/2
2 2
( a + u − v , u, v), and [dφ] =  1 0 . And so [dφ(√a,0,0) ] =
0 1
 
0 0
1 0, and thus the tangent space is the y, x-plane, as expected. 
0 1

Exercise 14 (1.2.9). Let X, Y manifolds, π : X × Y → X be the projection map, and for y ∈ Y let
f y : X → X × Y be a smooth injection defined by x → (x, y). Then
1. T(x,y) (X × Y ) = Tx (X) × Ty (Y )
2. dπ(x,y) : Tx (X) × Ty (Y ) → Tx (X) is also a projection (v, w) 7→ v.
3. f y is diffeomorphism onto its image and d(f y )x : v 7→ (v, 0).
Lastly, if f : X → X 0 , g : Y → Y 0 are smooth maps, then d(f × g)(x,y) = dfx × dgy .
Solution) Let (x, y) ∈ X × Y and φ × ψ : U × V → X × Y be local parametrization. Now (1.)
follows from the following lemma:
Lemma: Let U1 , U2 be open subset of Rn1 , Rn2 , and g1 × g2 : U1 × m1 m2
 U2 → R × R is smooth, then
[d(g1 )u1 ] 0
dg(u1 ,u2 ) = d(g1 )u1 × d(g2 )u2 (∵ [dg(u1 ,u2 ) ] = ). For (2.),
0 [d(g2 )u2 ]
π
X × Y −−−−→ X
x x

φ×ψ 
φ

h
U × V −−−−→ U
we note that the map h := φ−1 ◦ π ◦ (φ × ψ) : U × V → U is also the projection map (u, v) 7→ u.
So, dπ(x,y) = dφ0 ◦ dh(0,0) ◦ d(φ × ψ)−1
0 is easily computed to be the projection, as desired. Now for
(3.), f is diffeomorphism since (f )−1 is just projection, and we have the diagram
y y

fy
X −−−−→ X × y ⊂X ×Y
x x

φ
φ×ψ

h
U −−−−→ U × 0 ⊂ U × V
It’s easy to see that dh0 = Idk ×0. So, d(f y )x (v) = ((dφ0 × dψ0 ) ◦ dh0 ◦ dφ−1
0 )(v) = (v, 0), as desired.
Finally, we show d(f × g)(x,y) = dfx × dgy . Let π1 : X × Y → X, π2 : X × Y → Y be
0 0 0 0
projections, and j1 : X 0 → RN +M , j2 : Y 0 → RN +M be smooth maps x0 7→ (x0 , 0), y 0 7→ (0, y 0 ).
Now, note that f × g = j1 ◦ f ◦ π1 + j2 ◦ g ◦ π2 . So, using (1., 2., 3.) and chain rule, we have
d(f × g)(x,y) (u, v) = (dfx (u), dgy (v)), as desired. 

5
Exercise 15 (1.2.10,11). Let f : X → Y smooth map of manifolds and define fe : X → X × Y by
x → (x, f (x)), then dfex (v) = (v, dfx (v)), and hence T(x,f (x)) (Γ(f )) is the graph of dfx : Tx (X) →
Tf (x) (Y ).

Solution) Lemma: if ∆ : X → X × X is the diagonal map, then d∆x (v) = (v, v) (∵ h : U →


U × U has dh0 = [Ik |Ik ]). Now, fe = (Id ×f ) ◦ ∆, so the lemma and [Exercise 1.2.9] implies that
fex (v) = (v, dfx (v)), as desired. 

Exercise 16 (1.2.12). A curve on a manifold X is a smooth map c : I → X, t 7→ c(t), where


I ⊂ R interval. The velocity vector of the curve c at time t0 , denoted dc dt (t0 ) or ċ(t0 ), is defined
as dct0 (1) ∈ Tx0 (X) where x0 = c(t0 ). Note that when X = Rk and c(t) = (c1 (t), . . . , ck (t)), then
dc 0 0
dt (t0 ) = (c1 (t0 ), . . . , ck (t0 )). Every vector in Tx (X) is the velocity vector of some curve in X, and
conversely.

Solution) First, it is obvious that tangent space at a point on an interval is R, so dct0 : R →


Tx0 (X), and we thus we have the converse.
Now fix any x ∈ X and v ∈ Tx (X). Let φ : U → X be local parametrization around x, φ(0) = x,
and WLOG U = R (∵ [Exercise 1.1.4]). By definition v = dφ0 (w) for some w = (w1 , . . . , wk ) ∈ Rk .
Now, define e c : R → Rk by t 7→ (w1 t, . . . , wk t), and c := φ ◦ e
c. Now, dc0 = dφ0 ◦ ec0 and so
dc0 (1) = dφ0 (w), as desired. 

Exercise 17 (made-up). Let f : X → Y be smooth map of manifolds, x ∈ X, and let x ∈ U ⊂ RN


open and F : U → RM smooth such that F = f on X ∩ U . Then dfx = dFx |Tx (X) : Tx (X) → Ty (Y ).

Solution) WLOG, we have φ : U e → X ∩ U and ψ : Ve → Y ∩ V local parametrizations (diffeo-


morphisms) such that the following commutes (with h := ψ −1 ◦ f ◦ φ, φ(u) = x, ψ(v) = f (x))
f
X ∩ U −−−−→ Y ∩ V
x x

φ
ψ

h
U
e −−−−→ Ve
Now since f = F on X ∩ U , h = ψ −1 ◦ F ◦ φ, and hence dhu = dψv−1 ◦ dFx ◦ dφu , and plugging
this into dfx = dψu ◦ dhu ◦ dφ−1u , we have dfx = IdRM ◦dFx ◦ IdTx (X) , and hence dfx = dFx |Tx (X) as
desired. In fact, dFx is a linear extension of the linear map dfx . 

1.3 The Inverse Function Theorem and Immersions


Exercise 18 (1.3.2). Suppose Z ⊂ X l-dimensional submanifold, z ∈ Z. Then there exists a local
coordinate system {x1 , . . . , xk } on a neighborhood U of z in X such that Z ∩ U is defined by the
equations xl+1 , . . . , xk = 0.

6
Solution) Since the inclusion map j : Z ,→ X is an immersion, by Local Immersion Theorem,
we have parametrizations around z such that:
j
Z −−−−→ X
x x

φ
ψ

can. imm. e
V −−−−−−→ U

commutes, with φ(0) = z = ψ(0) and U e = V ×V 0 . Now, let ψ(U e ) := U ⊂ X and ψ −1 = (x1 , . . . , xk ),
then Z ∩ U = {v ∈ U | xl+1 (v) = 0, . . . , xk (v) = 0}, as desired. 

Exercise 19 (1.3.3,4,5). If f : R → R is a local diffeomorphism, then Im(f ) is an open interval and


f : R → Im(f ) is a diffeomorphism. Such is not true for h : R2 → R2 local diffeomorphism.

Solution) Lemma[1.3.5]: if f is injective local diffeomorphism, its image is open in Y , and it


is diffeomorphism onto its image (∵ open: local homeomorphisms are open maps, and bijective
local diffeomorphism admits smooth inverse) . R is connected thus so is Im(f ), hence Im(f ) is an
interval, and f local diffeomorphism implies that f is an open map and that f 0 (x) 6= 0 (and hence
f is injective).
This is not true for R2 ; consider h = g × arctan where g : R → S 1 , t 7→ (cos 2πt, sin 2πt) (h is
not injective). 

Exercise 20 (1.3.6). Let f : X → Y, g : Y → Y 0 be immersions, Z ⊂ X submanifold. Then f × g,


g ◦ f , and f |Z are immersions, and if dim X = dim Y , then f is in fact a local diffeomorphism.

Solution) f × g is immersion by [Exercise 1.2.9] and g ◦ f immersion by chain rule. If j : Z ,→ X


is inclusion map, f |Z = f ◦ j, so f |Z is immersion. If dim X = dim Y , f is local diffeomorphism by
Local Immersion Theorem. 

Exercise 21 (1.3.7). Define g : R → S 1 , t 7→ (cos 2πt, sin 2πt) (local diffeomorphism) and G :=
g × g : R2 → S 1 × S 1 , and let L ⊂ R2 a line with irrational slope. Then G|L is an injective local
diffeomorphism, but its image is not a submanifold of S 1 × S 1 .

Solution) G : (s, t) 7→ (cos 2πs, sin 2πs, cos 2πt, sin 2πt), and WLOG let L be defined by t =
αs, α ∈ R − Q. If G(s1 , αs1 ) = G(s2 , αs2 ), then s1 − s2 ∈ Z and α(s1 − s2 ) ∈ ZZ, which implies
that s1 = s2 since α is irrational. Moreover, since {nα}n∈N dense in R/Z, we have that Im(G|L ) is
dense in S 1 × S 1 , so Im(G|L ) cannot be a submanifold. 

Exercise 22 (1.3.9). Let (x1 , . . . , xN ) be standard coordinate functions on RN , and X ⊂ RN be a


k-dimensional manifold. Then any x ∈ X has a neighborhood on which the restrictions of some k
coordinate functions xi1 , . . . , xik form a local coordinate system.
Now for simplicity assume that x1 , . . . , xk form a local coordinate on a neighborhood V of x ∈ X.
Then ∃gk+1 , . . . , gN : U ⊂ Rk → R smooth such that V = Γ(g) where g = (gl+1 , . . . , gN ) : U →
RN −k , and thus every manifold is locally a graph of a smooth function.

7
Solution) Choose a basis v1 , . . . , vk ∈ RN of Tx (X), then the matrix [v1 · · · vk ] has rank k, so
it has k linearly independent rows, say i1 , . . . , ik . Now, let π : RN → Rk be projection defined
by (x1 , . . . , xN ) 7→ (xi1 , . . . , xik ), then dπx |Tx (X) : Tx (X) → Rk is an isomorphism by construction,
hence by IVT π|X : X → Rk is a local diffeomorphism. Now, assume i1 , . . . , ik = 1, . . . , k and let
π
e := π|X . π e : X → Rk is a diffeomorphism on x ∈ V ⊂ X, and the smooth inverse π e−1 : U → V is
of form Id ×g, and hence the result as desired. 

Exercise 23 (1.3.10). Generalized IVT: Let f : X → Y be smooth map that is injective on


a compact submanifold Z ⊂ X, and suppose ∀x ∈ Z, dfx : Tx (X) → Tf (x) (Y ) is isomorphism.
Then f maps Z diffeomorphically on f (Z), and in fact, maps an open neighborhood of Z in X
diffeomorphically onto an open neighborhood of f (Z) in Y . IFT is when Z is a single point.

Solution) Since dfx is an isomorphism for all x ∈ Z, for each x ∈ Z there exists T Ux on which
f |Ux is a diffeomorphism. {Ux } is a cover of X, hence we choose a finite subcover U = Ui ⊃ Z (X
is compact). On U , f is a local diffeomorphism, so only need show that f is injective on some open
set V containing Z (then f is injective local diffeomorphism on V ∩ U , hence a diffeomorphism).
Suppose V does not exist; then taking consecutively smaller -neighborhoods Z  of Z, we obtain
a sequence {ai }, {bi } such that ai 6= bi but f (ai ) = f (bi ). Passing through subsequences, ai → a and
bi → b (both converge) since WLOG they all belong to some Z  for which Z  is compact. Moreover,
by construction the limit point is on Z and hence a = b = ze since f is injective on Z. However, this
implies that f cannot be a local diffeomorphism at ze. Contradiction. 

1.4 Submersions
Exercise 24 (1.4.1). If f : X → Y is a submersion and U is open in X, then f (U ) is open in Y .

Solution) Fix any y ∈ f (U ); we need show ∃V ∈ y open in Y such that V ⊂ f (U ). Pick


x ∈ f −1 (y), then by local submersion theorem we have the following commutative diagram
f
X −−−−→ Y
x x

φ
ψ

π
Ve × U
e −−−−→ Ve

with φ(Ve × U
e ) ⊂ U and ψ(U
e ) := V , and V is as desired. 

Exercise 25 (1.4.2). Let X compact and Y connected, then every submersion f : X → Y is


surjective; hence, there exist no submersions of compact manifolds into Euclidean spaces.

Solution) Clearly, Y = f (X) t (Y − f (X)), so it suffices to show that Y − f (X) is both open
and closed in Y . f (X) is compact in Y since X is compact, hence f (X) is closed in Y ; X is open
in X, of by previous problem f (X) is open in Y . Now, if f : X → Rm is a submersion then f is
surjective, which is contradiction to Rm not being compact. 

8
Exercise 26 (1.4.5,6). Example: Let f : R3 → R, (x, y, z) 7→ x2 + y 2 − z 2 , a, b both positive or
negative. Then 0 is the only critical value of f , and f −1 (a), f −1 (b) are diffeomorphic.
More generally, let p be any homogeneous polynomial in k − variables, then p−1 (a) (a = 6 0) is a
k − 1-dimensional submanifold of Rk , and a > 0 ones are all diffeomorphic, as are a < 0 ones.
k
∂p X
Solution) Lemma: p(x1 , . . . , xk ) homogeneous of order m, then = m · p. The lemma
xi
∂xi
i=1
implies that 0 is the only critical value of p. Diffeomorphisms are made by scaling (note how m
being odd or even makes a small difference). 

Exercise 27 (1.4.7). Suppose y is a regular value of f : X → Y , X compact, and dim X = dim Y .


Then f −1 (y) = {x1 , . . . xn } (finite), and there exists U ∈ y open in Y such that f −1 (U ) = V1 t· · ·tVn
where Vi is open neighborhood of xi and f |Vi : Vi → U is a diffeomorphism (∀i = 1, . . . , n).

Solution) Note that y regular and dim X = dim Y implies that f is local diffeomorphism at
any x ∈ f −1 (y). If f −1 (y) is not finite, it contains a limit point (∵ X compact), say x0 ∈ f −1 (y),
but f cannot be local diffeomorphism at x0 (not injective). Now since f is local diffeomorphism at
x1 , . . . , xn , we can construct desired U and Vi ’s by taking finite intersections. 

Exercise 28 (1.4.10,11). Tangent space to O(n) at identity I is the space of skew symmetric ma-
trices. The group SL(n) is a (sub)manifold of M (n) and is moreover a Lie group, and the tangent
space to SL(n) at at the identity I is {H ∈ M (n) : Tr(H) = 0}

Solution) Recall O(n) = f −1 (I) where f : M (n) → S(n), A 7→ AAt . So, TI (O(n)) = ker dfI ,
and since dfI : M (n) → S(n), H 7→ IH t + HI t = H t + H, TI (O(n)) = {H ∈ M (n) : H = −H t }, as
desired. SL(n) = det−1 (1) where det : M (n) → R, H 7→ det H, and 1 is a regular value of det by
[Exercise 1.4.6]. Moreover, matrix multiplication and inversion is a smooth map (Cramer’s rule), so
SL(n) is a Lie group. Finally, we compute d detI : M (n) → R:

O(t2 ) + ni=0 (tH)ii + 1 − 1


P
det(I + tH) − det(I)
lim = lim = Tr(H)
t→0 t t→0 t
and hence the desired result about tangent space to SL(n) at I. 

Exercise 29 (1.4.13). (skip: this is linear algebra)

1.5 Transversality
Note: When the context is clear given x on X a manifold, we will not distinguish X as a whole
manifold and the open neighborhood of x in X since the tangent space at x turns out same (will
write X for both).

Exercise 30 (1.5.1,2). Examples of transversal & non-transversal intersection of linear spaces:


a. the xy plane and the z-axis in R3 : transversal
b. the xy plane and the plane spanned by {(3, 2, 0), (0, 4, −1)} in R3 : transversal

9
c. the plane spanned by {(1, 0, 0), (2, 1, 0)} and the y axis in R3 : not transversal
d. Rk × {0} and {0} × Rl in Rn : transversal if n ≤ k + l.
e. V × {0} and the diagonal in V × V : transversal
f. symmetric and skew symmetric matrices in M (n): transveral
Solution) All of the above are easy to check with the following lemma:
Lemma: if V and W are linear subspace of Rn , then V t̄W means V + W = Rn (∵ [Exercise 1.2.3]).
Exercise 31 (1.5.4). Let X and Z be transversal submanifolds of Y , then for y ∈ X ∩ Z,

Ty (X ∩ Z) = Ty (X) ∩ Ty (Z)

Solution) We have V ⊂ Y open such that X ∩ V = g −1 (0), Z ∩ V = h−1 (0), for g = (g1 , . . . , gk ) :
V → Rk , h = (h1 , . . . , hl ) : V → Rl . Then (X ∩ Z) ∩ V = f −1 (0) where f = (g × h) ◦ ∆ : V → Rk+l
(N.B. 0 is regular value for f by transversality). Moreover, dfy : Ty (Y ) → Rk+l , v 7→ (dgy (v), dhy (v))
(∵ [Exercise 1.2.9,10]). And since ker dfy = ker dgy ∩ ker dhy , we have Ty (X ∩ Z) = ker dfy =
ker dgy ∩ ker dhy = Ty (X) ∩ Ty (Z), as desired. 
Exercise 32 (1.5.5). Let f : X → Y , Z ⊂ Y submanifold, f t̄Z, and W := f −1 (Z). Then Tx (W )
is the preimage of Tf (x) (Z) under dfx : Tx (X) → Tf (x) (Y ), i.e. Tx (f −1 (Z)) = dfx−1 (Tf (x) (Z))
Solution) As in the proof, we have open neighborhoods U, V in X, Y around x, f (x) such that
f g
U → V → Rl and Z ∩ V = g −1 (0), f −1 (Z) ∩ U = (g ◦ f )−1 (0). Now, noting Tf (x) (Z) = ker dgf (x) , we
have Tx (Z) = ker d(g ◦ f )x = ker(dgf (x) ◦ dfx ) = {v ∈ Tx (X) : dfx (v) ∈ ker dgf (x) } = dfx−1 (Tf (x) (Z)),
as desired. (This implies [Exercise 1.5.4] f = i : X ,→ Y and dix is just inclusion). 
f g
Exercise 33 (1.5.7). X → Y → Z smooth maps of manifolds, W ⊂ Z submanifold such that g t̄W .
Then f t̄g −1 (W ) if and only if (g ◦ f )t̄W .
Solution) Fix any x ∈ (g◦f )−1 (W ), and y := f (x), z := g(y). Note that since g t̄W , dgy (Ty (Y ))+
Tz (W ) = Ty (Z).
f t̄g −1 (W ) ⇒ (g ◦ f )t̄W : we need show Im(dgy ◦ dfx ) + Tz (W ) = Tz (Z). Let w e ∈ Tz (Z) be
given. g t̄W implies ∃u ∈ Ty (Y ), v ∈ Tz (W ) such that dgy (u) + v = w. e Moreover, f t̄g −1 (W ),
so Ty (Y ) = Im(dfx ) + Ty (g −1 (W )) = Im(dfx ) + dgy−1 (Tz (W )) (∵ [Exercise 1.5.5]), hence there
exists ue ∈ Tx (X) and v 0 ∈ dgy−1 (Tz (W )) such that dfx (e u) + v 0 = u. Finally, we see that then
(dgy ◦ dfx )(e 0
u) + dgy (v ) + v = w,
e as desired.
(g ◦ f )t̄W ⇒ f t̄g −1 (W ): we need show Im(dfx ) + dgy−1 (Tz (W )) = Ty (Y ). Again, fix a w e ∈
Ty (Y ). Note the existence of u ∈ Tx (X) such that (dgy ◦ dfx )(u) + w = dgy (w), e and moreover,
dgy (dfx (u) − w)
e ∈ Tz (W ) is guaranteed by (g ◦ f )t̄W . 
Exercise 34 (1.5.9). Let V be a vector space, ∆ the diagonal of V × V , A : V → V linear map,
and W = Γ(A). Then W t̄∆ if and only if 1 is not an eigenvalue of A.
Solution) Since ∆ and W are both vector subspaces of V × V , W t̄∆ is equivalent to W + ∆ =
V × V . Fix an arbitrary (u, v) ∈ V × V , then if we can always find (v1 , v1 ) ∈ ∆, (v2 , Av2 ) ∈ W such
that v1 + v2 = u, v2 + Av2 = v if and only if (A − I) is invertible. 

10
Exercise 35 (1.5.10). Let f : X → X be a smooth map with fixed point x (i.e. f (x) = x). If 1 is
not an eigenvalue of dfx : Tx (X) → Tx (X), then x is called a Lefschetz fixed point of f, and f is
Lefschetz map if all its fixed points are Lefschetz. If X is compact and f is Lefschetz, then f has
only finitely many fixed points.
Solution) Let ∆X be the diagonal of X × X, respectively. We wish to show that ∆X ∩ Γ(f ) is
finite. Claim: it suffices to show ∆X t̄Γ(f ). If it is so, then ∆X ∩ Γ(f ) ⊂ X × X is a submanifold
of dimension 0, since dim ∆X = dim Γ(f ) = dim X (∵[Exercise 1.1.16,17]). Now, X × X is compact
so its 0-dimensional submanifold is finite (if not then it has a limit point, which does not admit a
neighborhood diffeomorphic to a point).
Now we show ∆X t̄Γ(f ). Fix any x ∈ ∆X ∩ Γ(f ), and let ∆V be the diagonal of Tx (X) × Tx (X).
Then by [Exercise 1.5.9] we have T(x,x) (∆X ) + T(x,x) (Γ(f )) = ∆V + Γ(dfx ) = Tx (X) × Tx (X) =
Tx (X × X) (first equality by [Exercise 1.2.10,10]). 

1.6 Homotopy and Stability


Exercise 36 (1.6.1,2). Suppose f0 ∼ f1 (homotopic), then ∃Fe : X × I → Y homotopy such that
Fe(x, t) = f0 (x) ∀t ∈ [0, 1/4] and Fe(x, t) = f1 (x) ∀t ∈ [3/4, 1]. Hence, homotopy is an equivalence
relation.
Solution) By [Exercise 1.1.18], there exists a function h : R → R such that h(x) = 0 on x ≤ 1/4
and h(x) = 1 on x ≥ 3/4. Now, if F is the homotopy between f0 , f1 , set Fe = F ◦ (Id ×h).
Now we show equivalence relation. Let F, G be homotopies for f ∼ g, g ∼ h. Then define
H : X × [0, 7/4] → Y by
(
Fe(x, t) t ∈ [0, 1]
H(x, t) = e t − 3/4) t ∈ [3/4, 7/4]
G(x,

e := H(x, 4 t) is the desired homotopy for f ∼ h. 


Then H is smooth, and H 7

Exercise 37 (1.6.3). Every connected manifold X is arcwise connected, i.e. ∀x0 , x1 ∈ X, ∃f :


I → X smooth with f (0) = x0 , f (1) = x1 .
Solution) We first note that arcwise connectedness (x0 ∼ x1 ) is a equivalence condition since
x0 ∼ x1 ⇔ f0 ∼ f1 where f0 : {∗} → X, ∗ 7→ x0 , f1 : {∗} → X, ∗ 7→ x1 , and homotopy is a
equivalence relation. By going through the local parametrizations, it is easy to show that arcwise
connected components are clopen in X, and hence if X is connected it is arcwise connected. 
Exercise 38 (1.6.7). The antipodal map α : S k → S k , x → −x is homotopic to the identity if k is
odd.
2 2
  that for any fixed θ ∈ R, the map Lθ : R → R given by multiplying the matrix
Solution) Note
cos θ − sin θ
preserves the norm: i.e. k(x, y)k2 = kL(x, y)k2 . So, for S 2k−1 ⊂ R2k , the map
sin θ cos θ
L := Lπt × · · · × Lπt : R2k × I → R2k is the smooth homotopy. 
k times

11
Exercise 39 (1.6.8). Diffeomorphisms of compact manifolds constitute a stable class.
Solution) Let f0 : X → Y be diffeomorphism, X, Y compact, ft homotopy of f0 . We need
produce  > 0 such that ft is diffeomorphism for all t < . WLOG, we assume that X is connected,
and also Y connected. (X is compact, so it has finitely many connected components, so we can find
 for each and take the minimum).
Local diffeomorphism and embedding is stable, so ∃ > 0 such that∀t < , ft is a local diffeo-
morphism and an embedding. Fix any t < . We are done if ft (X) = Y , but ft (X) is open in Y
since ft is local diffeomorphism, and it is closed since it is image of compact set in Y also compact.
Hence, Y connected implies ft (X) = Y . 
Exercise 40 (1.6.9). Let ρ : R → R be a function with ρ(s) = 1 if |s| < 1, ρ(s) = 0 if |s| > 2,
and define ft : R → R by ft (x) = xρ(tx). This is a counterexample to all the parts of the stability
theorem when X is not compact.
Solution) We simply need verify. f0 (x) = xρ(0) = x, hence f0 is a diffeomorphism and any
submanifold of R is transversal to identity. Now, for any t > 0, note that |tx| > 2 for all |x| > 2/|t|,
so ft cannot be local diffeomorphism/immersion/submersion/embedding/diffeomorphism. And for
|x| > 2/|t|, ft (x) = 0, so clearly, {0} is not transversal to ft . 
Exercise 41 (1.6.10). A deformation of a submanifold Z ⊂ Y is a smooth homotopy it : Z → Y
where i0 is the inclusion map and each it is an embedding (and thus, Zt = it (Z) is a smoothly
varying submanifold of Y with Z0 = Z). If Z is compact, then any homotopy it of its inclusion map
is a deformation for small t.
Solution) Since Z is compact, embedding is stable class. 

1.7 Sard’s Theorem and Morse Functions


Exercise 42 (1.7.5). Exhibit a smooth map f : R → R whose set of critical values is dense.
Solution) From [Exercise 1.1.18], there is a function g : R → R such that g(x) = 1 if |x| ≤ 1/4
and g(x) = 0 if |x| ≥ 1/2. Now, write P Q = {q1 , q2 , . . .}, and then for i ∈ N, define gi : R → R by
gi (x) = qi g(x − i). Now define f := i gi , then all the rationals are critical values for f and dense
in R.
Remark: Measure zero implies empty interior, but the converse is false. 
Exercise 43 (1.7.6). The sphere S k is simply connected if k > 1.
Solution) Since dim S 1 < dim S k (k > 1), p ∈ S k is a regular value iff p ∈
/ f (S 1 ). That is, Sard’s
1 k
Theorem implies that f (S ) is measure zero in S , hence ∃p ∈ / f (S ). Now under S k − {p} ' Rk ,
1

and with Rk being contractible, f (S 1 ) is homotopic to a constant map. 


Exercise 44 (1.7.8). Analyze the critical behavior at the origin in the following functions:
a. f (x, y) = x2 + 4y 3
b. f (x, y) = x2 − 2xy + y 2

12
c. f (x, y) = x2 + y 4
d. f (x, y) = x2 + 11xy + y 2 /2 + x6
e. f (x, y) = 10xy + y 2 + 75y 3
Solution) In the order of nondegenerate?/isolated?/local min or max?(non strict)?, we have:
a. N/N/N, b. N/N/Y(min), c. N/Y/Y(min), d. Y/Y/N, e. Y/Y/N 
Exercise 45 (1.7.11,12). If a ∈ Rn is a non degenerate critical point of f : Rn → R, there exists a
local coordinate system (x1 , . . . , xn ) around a such that
n
X
f = f (a) + i x2i , i = ±1
i=1

And hence derive the usual second derivative test.


Solution) Note that Hessian matrix is always real symmetric and hence diagonalizable by or-
thogonal matrix P . Let H be Hessian matrix of f at a, and P be the orthogonal matrix that
diagonalizes H. Morse Lemma gives us local coordinates x~00 := (x001 , . . . , x00n ) : Rn → Rn around a
t
such that f = f (a) + x~00 H x~00 . Then x~0 := (x01 , . . . , x0n ) := P t x~00 is a new local coordinates around a
t t
such that f = f (a) + x~00 P P t HP P t x~00 = f (a) + x~0 (P t HP )x~0 . So,
n
X
f = f (a) + λi x02
i , λi ’s are eigenvalues of H
i=1
p p
Finally, let φ : Rn → Rn be defined by (y1 , . . . , yn ) 7→ ( |λ1 |y1 , . . . , |λn |yn ), and ~x := (x1 , . . . , xn ) :=
g ◦ x~0 be the new local coordinates around a. Then
n
X
f = f (a) + i x2i , i = ±1
i=1

as desired, and since (x1 , . . . , xn )(a) = 0 the second derivative test immediately follows. 
Exercise 46 (1.7.14). Check that the ”height function” (x1 , . . . , xk ) 7→ xk on the sphere S k−1 is a
Morse function with two critical points, the poles (one max, one min).
Solution) Let f : S k−1 → R be the restriction of the projection π : Rk → R, (x1 , . . . , xk ) 7→ xk .
Then for x ∈ S k−1 , dfx : Tx (S k−1 ) → R is the restriction of dπx = π. Thus, x ∈ S k−1 is a critical
value iff Tx (S k−1 ) = Rk−1 × {0}. Since, S k−1 = g −1 (1) where g : x → kxk2 , Ta (S k−1 ) = ker(x 7→
2at x), Ta (S k−1 ) = Rk−1 × {0} exactly
p when a = (0, . . . , 0, 1) := N or (0, . . . , 0, −1) := S. Now,
φ± : Rk−1 ⊃ B1 (0) → R, x 7→ x × ± 1 − kxk2 are local parametrizations of N, S. And calculating
H(f ◦ φ+ )0 , we have −I (hence max), and for the − case we have I.
Exercise 47 (1.7.16). Let U ⊂ Rk open, f : U → R smooth, and H(x) be the Hessian of f for
x ∈ U . Then f is Morse if and only if
k 
∂f 2
X 
2
det(H) + > 0 on U
∂xi
i=1

13
Pk  2
∂f
Solution) x ∈ U is a critical point of f iff ∇f = 0, and hence iff i=1 ∂xi = 0. The rest is
follows immediately from definition of Morse. 

Exercise 48 (1.7.17,18). (Stability of Morse Functions) Suppose ft is a homotopic family of func-


tions on Rk . Show that if f0 is Morse in some neighborhood f a compact set K, then so is every ft
for t sufficiently small. And thus, Morse function is stable class.

Solution) Let U ⊂ Rk be open containing K such that f0 : U → R is Morse. Now, denote the
P  ∂ft 2
Hessian of ft at x by Hft |x , and define h : Rk × I → R by (x, t) 7→ det(Hft |x )2 + ki=1 ∂x i
.
Clearly, h is smooth, and by [Exercise 1.7.16], we know that h > 0 on U × {0}, hence on K × {0}.
Since K × {0} is compact, h ≥ 2δ for some δ > 0. By continuity of h, there exists an open set
U 0 ⊃ K × {0} such that h > δ on U 0 . By Tube Lemma, ∃ > 0 such that h > δ on K × [0, ]. Using
continuity of h again, for any fixed t ∈ [0, ] there exists open V ⊃ K such that h > 0 on V × {t},
as desired.
Now let X be a compact manifold, f0 : X → R Morse, and ft homotopic family of functions.
Suppose for any x ∈SX, there exists Ux , neighborhood of x, and x > 0 such that ft is Morse on Ux
for t ∈ [0, x ]; then x Ux form an open over of X, so choosing a finite sub cover Ux1 ∪ · · · ∪ Uxn ,
we have that ft is Morse on X for any t ∈ [0, min(x1 , . . . , xn )]. Existence of Ux and x is given by
[Exercise 1.7.17]: for φ : Vx → X local parametrization around x with φ(0) = x, set Ux = φ(Br (0))
where Br (0) ⊂ Vx . 

1.8 Embedding Manifolds in Euclidean Space


A few practice with tangent bundles:

Exercise 49 (1.5.2). Let g : X → R be smooth, everywhere-positive. Then the map f : T (X) →


T (X) given by (x, v) 7→ (x, g(x)v) is smooth.

Solution) If m : R × RN → RN is scalar multiplication, ∆ : RN → RN × RN diagonal map, then


f is just restriction of (Id ×m) ◦ (Id ×g × Id) ◦ (∆ × Id). 

Exercise 50 (1.5.3,4). T (X × Y ) is diffeomorphic to T (X) × T (Y ). T (S 1 ) is diffeomorphic to


S 1 × R.

Solution) First statement is immediate from T(x,y) (X × Y ) = Tx (X) × Ty (Y ). The map (x, v) 7→
(x, kvk) is a diffeomorphism of T (S k ) and S 1 × R. 

Exercise 51 (1.5.6). A vector field ~v on a manifold X in RN is a smooth map ~v : X → RN such


that ~v (x) ∈ Tx (X). Equivalently, a vector field ~v on X is a cross section of T (X)—i.e. a smooth
map ~v : X → T (X) such that p ◦ ~v is identity on X. Lastly, x ∈ X is zero of a vector field ~v if
~v (x) = 0.

Solution) (Just definitions)

14
Exercise 52 (1.5.7,8). If k is odd, there exists a nonvanishing vector field ~v on S k . If S k has a
nonvanishing vector field ~v , then its antipodal map is homotopic to the identity.

Solution) If k is odd, then the map (x1 , . . . , xk+1 ) 7→ (−x2 , x1 , −x4 , x3 , . . . , −xk+1 , xk ) is a (linear)
smooth map, i.e. a nonvanishing vector field on S k . Now, let ~v is a nonvanishing vector field on
S k , and WLOG k~v (x)k = 1, ∀x ∈ S k (define new vector field by x 7→ ~v (x)/k~v (x)k), and thus
~v : S k → S k smooth and x⊥~v (x). Now, H : S k × I → S k defined by (x, t) 7→ x cos πt + ~v (x) sin πt is
a homotopy between the identity and antipodal map. 

15
2 Chapter 2. Transversality and Intersection
2.1 Manifolds with Boundary
Exercise 53 (Made-up). Let f : X → Y be a smooth map of manifolds with boundary, Z ⊂ X a
submanifold with boundary, and define g := f |Z . Then for x ∈ Z, dgx : Tx (Z) → Tf (x) (Y ) is equal
to dfx |Tx (Z) .

Solution) The proof reads exactly like [Exercise 17]. 

Exercise 54 (2.1.2). Let f : X → Y be a diffeomorphism of manifolds with boundary. Then ∂f


maps ∂X diffeomorphically onto ∂Y .
f Id
Solution) A diffeomorphism X → Y is locally equivalent to U → U where U ⊂ H k . So, it follows
that ∂f (x) ∈ ∂Y if and only if x ∈ ∂X. 

Exercise 55 (2.1.3). S := [0, 1] × [0, 1] is a not a manifold with boundary.

Solution) Suppose S is a manifold with boundary, then s = (0, 0) ∈ S has a neighborhood


U ⊂ I 2 diffeomorphic to V ⊂ H k . Let f : U → V be the diffeomorphism, and shrinking if U
open open
e → R2 be the smooth extension of f where U ⊂ U
if necessary, let F : U e ⊂ R2 . Then dFs is an
open
isomorphism.
Now, note that ∂U maps to ∂H k , so if F = (F1 , F2 ) then F2 (x, 0) = 0 = F2 (0, y) for any
(x, 0), (0, y) ∈ U . Thus, ∂F ∂F2
∂x (s) = 0 an ∂y (s) = 0. But this implies that dFs (e1 ), dFs (e2 ) ∈ R × {0}
2

and thus not linearly dependent. 

Exercise 56 (2.1.4). The solid hyperboloid defined by x2 + y 2 − z 2 ≤ a is a manifold with boundary.

Solution) Define π : R3 → R by (x, y, z) 7→ a − (x2 + y 2 − z 2 ). Since a > 0, it is easily checked


that 0 is regular value of π. Hence, π −1 ([0, ∞)) is a manifold with boundary. 

Exercise 57 (2.1.7). Let X be a manifold with boundary, x ∈ ∂X, φ : U → X local parametrization


with φ(0) = x (so dφ0 : Rk → Tx (X) is isomorphism). We define the upper half space Hx (X) in
Tx (X) by Hx (X) := dφ0 (H k ). Hx (X) is independent of the choice of parametrization.

Solution)

Exercise 58 (2.1.8).

Solution)

2.2 Transversality

16

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