Lie derivatives, forms, densities, and integration
John L. Friedman Department of Physics, University of WisconsinMilwaukee
1
1 Lie derivatives
Lie derivatives arise naturally in the context of ﬂuid ﬂow and are a tool that can simplify calculations and aid one’s understanding of relativistic ﬂuids. Begin, for simplicity, in a Newtonian context, with a stationary ﬂuid ﬂow with 3velocity v(r). A function f is said to be dragged along by the ﬂuid ﬂow, or Lie derived by the vector ﬁeld v that generates the ﬂow, if the value of f is constant on a ﬂuid element, that is, constant along a ﬂuid trajectory r(t):
d
_{d}_{t} f [r(t)] = v · ∇f = 0.
(1)
The Lie derivative of a function f , deﬁned by
L _{v} f = v · ∇f,
(2)
is the directional derivative of f along v, the rate of change of f measured by a comoving observer. Consider next a vector that joins two nearby ﬂuid elements, two points r(t) and ¯r(t) that move with the ﬂuid: Call the connecting vector λw, so that for small λ the ﬂuid elements are nearby: λw = ¯r(t) − r(t). Then λw is said to be dragged along by the ﬂuid ﬂow, as shown in Fig. (1). In the ﬁgure, the endpoints of r(t _{i} ) and ¯r(t _{i} ) are labeled r _{i} and ¯r _{i} . A vector ﬁeld w is Liederived by v if, for small λ, λw is dragged along by the ﬂuid ﬂow. To make this precise, we are requiring that the equation
r(t) + λw(r(t)) = ¯r(t)
(3)
be satisﬁed to O(λ). Taking the derivative of both sides of the equation with respect to t at t = 0, we have
v(r) + λv · ∇w(r) 
= 
v(¯r) = v[r + λw(r)] 

= 
v(r) + λw · ∇v(r) + O(λ ^{2} ), 
(4) 

which holds if and only if 

[v, w] ≡ v · ∇w − w · ∇v = 0. 
(5) 

The commutator [v, w] is the Lie derivative of w with respect to v, written 

L _{v} w = [v, w]. 
(6) 
2
Figure 1: Two nearby ﬂuid elements move along the ﬂow lines, their successive positions labeled r _{i} and ¯r _{i} . A vector ﬁeld λw is said to be dragged along by the ﬂow when, as shown here, it connects successive positions of two nearby ﬂuid elements.
Then w is Liederived by v when L _{v} w = 0. The Lie derivative L _{v} w compares the change in the vector ﬁeld w in the direction of v to the change that would occur if w were dragged along by the ﬂow generated by v. In a curved spacetime the Lie derivative of a function f is again its directional derivative,
L _{u} f = u ^{α} ∇ _{α} f.
(7)
If u ^{α} is the 4velocity of a ﬂuid, generating the ﬂuid trajectories in spacetime, L _{u} f is commonly termed the convective derivative of f . The Newtonian limit of u ^{α} is the 4vector ∂ _{t} + v, and L _{u} f has as its limit the Newtonian convective derivative (∂ _{t} +v ·∇)f , again the rate of change of f measured by a comoving ob server. (Now the ﬂow is arbitrary, not the stationary ﬂow of our earlier Newtonian discussion.) A connecting vector is naturally a contravariant vector, the tangent to a curve joining nearby points in a ﬂow; and in a curved spacetime, the Lie derivative of a contravariant vector ﬁeld is again deﬁned by Eq. (6),
L _{u} w ^{α} = u ^{β} ∇ _{β} w ^{α} − w ^{β} ∇ _{β} u ^{α} .
3
(8)
We have used a ﬂuid ﬂow generated by a 4velocity u ^{α} to motivate a deﬁnition of Lie derivative; the deﬁnition, of course, is the same in any dimension and for any vector ﬁelds:
L _{v} w ^{a} = v ^{b} ∇ _{b} w ^{a} − w ^{b} ∇ _{b} v ^{a} .
Although the covariant derivative operator ∇ appears in the above expression, it is in fact independent of the choice of derivative operator. This is immediate from
the symmetry Γ the form
_{(}_{j}_{k}_{)} , which implies that the components have in any chart
(9)
i
jk
^{=} ^{Γ} ^{i}
(10)
One can extend the deﬁnition of Lie derivative to arbitrary tensors by requiring that, for a product, it act as a derivative, satisfying the Leibnitz rule: Thus, for any covector σ _{a} , and any vector e ^{a} , one requires
L _{v} w ^{i} = v ^{j} ∂ _{j} w ^{i} − w ^{j} ∂ _{j} v ^{i} .
L _{v} (σ _{a} e ^{a} ) = (L _{v} σ _{a} )e ^{a} + σ _{a} L _{v} e ^{a} .
(11)
Because the component σ _{a} e ^{a} is a scalar, its Lie derivative is the directional deriva tive v · ∇(σ · e) = v · ∂(σ · e). From Eqs. (11) and (9), we have
(L _{v} σ _{a} )e ^{a} + σ _{a} (v ^{b} ∇ _{b} e ^{a} − e ^{b} ∇ _{b} v ^{a} )
=
v ^{b} ∇ _{b} (σ _{a} e ^{a} ) = (v ^{b} ∇ _{b} σ _{a} )e ^{a} + σ _{a} v ^{b} ∇ _{b} e ^{a}
e ^{a} L _{v} σ _{a} = e ^{a} v ^{b} ∇ _{b} σ _{a} + e ^{a} σ _{b} ∇ _{a} v ^{b} .
Because the value of e ^{a} at any one point along the trajectory is arbitrary, we have
L _{v} σ _{a} = v ^{b} ∇ _{b} σ _{a} + σ _{b} ∇ _{a} v ^{b} .
(12)
Again it is easy to check that the deﬁnition (12) is independent of the choice of derivative operator, that the components in any chart are given by
L _{v} σ _{i} = v ^{j} ∂ _{j} σ _{i} + σ _{j} ∂ _{i} v ^{j} .
(13)
Finally, the Lie derivative of an arbitrary tensor T ^{a} ^{1} ^{·}^{·}^{·}^{a} ^{m} _{b} _{1} _{·}_{·}_{·}_{b} _{n} again follows from
the Leibnitz rule applied to L _{v} (T ^{a}^{·}^{·}^{·}^{b} _{c}_{·}_{·}_{·}_{d} e
e ^{a} ,
··· ω _{d} ), for arbitrary vectors
i
··· e ω
j
c
a
b
k
l
1
, e _{n} and covectors ω _{a} ,
a
, ω
m
a
:
1
_{L} v _{T} a _{1} ···a _{m} b 1 ···b n
_{=}
_{v} c _{∇} c _{T} a _{1} ···a _{m} b 1 ···b n
_{−}_{T} ^{c}^{·}^{·}^{·}^{a} ^{m} _{b} _{1} _{·}_{·}_{·}_{b} _{n} _{∇} _{c} _{v} ^{a} ^{1} − ··· −
+T ^{a} ^{1} ^{·}^{·}^{·}^{a} ^{m} _{c}_{·}_{·}_{·}_{b} _{n} ∇ _{b} _{1} v ^{c} + ··· +
T ^{a} ^{1} ^{·}^{·}^{·}^{c} _{b} _{1} _{·}_{·}_{·}_{b} _{n} ∇ _{c} v ^{a} ^{m}
T ^{a} ^{1} ^{·}^{·}^{·}^{a} ^{m} _{b} _{1} _{·}_{·}_{·}_{c} ∇ _{b} _{n} v ^{c} ,
(14)
4
independent of the derivative operator, and with components in a chart given by
L v T ^{i} ^{1} ^{·}^{·}^{·}^{i} ^{m} j _{1} ···j _{n}
=
v ^{k} ∂ k T ^{i} ^{1} ^{·}^{·}^{·}^{i} ^{m} j _{1} ···j _{n} _{−}_{T} k···i _{m} j 1 ···j n _{∂} k _{v} i _{1} _{−}
_{·}_{·}_{·} _{−}
_{+}_{T} ^{i} ^{1} ^{·}^{·}^{·}^{i} ^{m} _{k}_{·}_{·}_{·}_{j} _{n} ∂ _{j} _{1} v ^{k} + ··· +
_{T} i _{1} ···k j 1 ···j n _{∂} k _{u} i _{m}
T ^{i} ^{1} ^{·}^{·}^{·}^{i} ^{m}
_{j} _{1} _{·}_{·}_{·}_{k} ∂ _{j} _{n} v ^{k} .
(15)
Action of diffeos ^{1} and relation to Lie derivatives. We began by using the ﬂow generated by a velocity ﬁeld v to motivate the deﬁnition (6) of Lie derivative of a vector ﬁeld w. It is useful to see formally the way in which any vector ﬁeld gen erates a ﬂow and to use that ﬂow to give a geometrical deﬁnition of Lie derivative. Note ﬁrst that the trajectory (worldline) of a ﬂuid element is an integral curve of the vector ﬁeld u ^{α} , where:
Deﬁnition. An integral curve c(λ) of a vector ﬁeld ξ ^{a} is a curve whose tangent vector at each point P = c(λ _{0} ) is ξ ^{a} (P).
In a chart {x ^{i} }, the tangent ξ ^{i} to an curve c(λ) has components _{d}_{λ} c ^{i} (λ); and the
d
d
statement that c(λ) is an integral curve has the form _{d}_{λ} c ^{i} (λ) = ξ ^{i} [c(λ)].
Proposition. Any smooth vector ﬁeld ξ ^{a} in an ndimensional manifold M has a family of integral curves, one through each point of M . ^{2}
Example 1: As noted, the velocity ﬁeld u ^{α} of a ﬂuid has as its integral curves the ﬂuid trajectories parameterized by proper time. The 3dimensional vector ﬁeld v of a stationary Newtonian ﬂow has as its integral curves the ﬂow lines, parameter ized by Newtonian time.
Example 2: The vector ﬁeld ∂ _{φ} = x∂ _{y} − y∂ _{x} has as integral curves the lines of constant t, r, θ,
λ
→ (t, r, θ, φ + λ)
Note that when a vector ﬁeld vanishes at P (e.g., ∂ _{φ} vanishes on the symmetry axis x = y = 0) the integral curve simply stays at P : c(λ) = P .
^{1} A smooth, 11 map of a manifold onto itself or onto another manifold is called a diffeo (or diffeomorphism). ^{2} This result is equivalent to the existence theorem for solutions to ordinary differential equa tions, proved, for example, in Coddington and Levinson [1].
5
We can view the 4dimensional ﬂow of a ﬂuid as a family of smooth maps of the ﬂuid to itself in the following way: In a given proper time τ each point P in the ﬂuid moves along the ﬂuid trajectory through P from c(0) = P to the point c(τ ). As in the case of the 4velocity, we can use the integral curves of any vector ﬁeld to deﬁne a family ψ _{λ} of diffeos of a manifold to itself (for a star, the ﬂuid has a boundary, and the map ψ _{τ} is from the support of the ﬂuid to itself):
For each point P let c(λ) be the integral curve of ξ ^{a} for which P = c(0). For a ﬁxed value λ, deﬁne the map ψ _{λ} by
ψ _{λ} (P ) = c(λ).
(16)
That is, ψ _{λ} maps each point P to the point a parameter distance λ from P along
the integral curve through P . The vector ﬁeld ξ ^{a} is said to generate the family ψ _{λ}
of diffeos. In a chart {x ^{i} }, we have
ξ ^{i} (x) =
d dλ ^{ψ}
i
_{λ} (x)
^{} λ=0
.
(17)
Example: The vector ﬁeld ∂ _{φ} generates the family of diffeos (t, r, θ, φ) → (t, r, θ, φ + λ), rotations by λ in the xy plane about the axis where ∂ _{φ} vanishes. We can now repeat for manifolds the relation with which we began this sec tion, between the ﬂow  the diffeos  generated by a vector ﬁeld and the Lie deriva tive. We again need the action of a diffeo ψ on a tensor T The deﬁnition of ψT is closely tied to our intuitive understanding of a ﬂuid ﬂow. As in the ﬂatspace discussion at the beginning of this section, we start with functions and vectors. A function f of a ﬂuid is conserved if the ﬂuid drags the function along with it. Deﬁne the draggedalong function ψf by requiring that ψf [ψ(P )] = f (P ), or
(18)
ψf (P ) := f [ψ ^{−}^{1} (P )].
A function f on a ﬂuid is Liederived by the ﬂuid ﬂow if
d
_{d}_{τ} ψ _{τ} f ≡ −L _{u} f = 0,
(19)
where ψ _{τ} is again the family of diffeos generated by the ﬂuid velocity u ^{α} . Then, for any smooth vector ﬁeld ξ ^{a} and function f on a manifold M , one can deﬁne the Lie derivative L _{ξ} f by
(20)
L _{ξ} f = − _{d}_{λ} ψ _{λ} f,
d
6
where ψ _{λ} is the family of diffeos generated by ξ ^{a} .
To extend the action of diffeos to vector ﬁelds, we consider a curve c(s) joining two ﬂuid elements, and let w ^{α} be its tangent vector. For small s, sw ^{α} can be regarded as a connecting vector joining ﬂuid elements a distance s apart. For a ﬁxed proper time τ , write ψ ≡ ψ _{τ} . The ﬂuid ﬂow maps the curve c(s) to a curve ψ[c(s)], dragged along a proper time τ with the ﬂuid ﬂow. The tangent vector w ^{α}
to c at a point P is in this way dragged along to a vector ψw ^{α} tangent to ψ ◦ c at
ψ(P ), a proper distance τ from P . Its components are
ψw ^{µ}  ψ(P) =
d
_{d}_{s} ψ ^{µ} [c(s)]
^{} s=0
=
∂ _{ν} ψ ^{µ} ^{d}^{c} ds ^{ν}
^{} s=0
=
∂ _{ν} ψ ^{µ} w ^{ν} (P ).
(21)
Equivalently, ψw ^{µ} (P) = ∂ _{ν} ψ ^{µ} w ^{ν} [ψ ^{−}^{1} (P )]. More generally, any diffeo ψ of a manifold M to itself drags a vector ﬁeld w ^{a}
to a vector ﬁeld ψw ^{a} , with
ψw ^{i} (P) = ∂ _{j} ψ ^{i} w ^{j} [ψ ^{−}^{1} (P )].
A vector ﬁeld w ^{a} is Liederived by a vector ﬁeld ξ ^{a} if the family of diffeos ψ _{λ}
generated by ξ ^{a} leave w ^{a} unchanged, if ψ _{λ} w ^{a} = w ^{a} ; and the Lie derivative is again given by
L _{v} w ^{a} = − _{d}_{λ} ψ _{λ} w ^{a} .
(22)
d
(23)
To check that this agrees with our earlier deﬁnition, we use Eq. (17) and ψ _{0} = identity, writing
d
_{d}_{λ} ^{} ψ _{λ} w ^{i}  _{P} ^{}^{} ^{} _{λ}_{=}_{0}
Using
=
=
dλ ∂ψ
∂x
d
i
λ
^{j}
w ^{j} ^{} ψ
−1
λ
^{(}^{P}^{)}
λ=0
i
λ
∂x ^{j} dψ
∂
dλ
λ=0
i
λ
w ^{j} (P) + ^{∂}^{ψ} ∂x
^{j}
^{} λ=0
d
dλ ^{w} i ^{ψ}
−1
λ
(P) ^{} = ^{∂}^{w} ∂x ^{j} ^{i}
^{j}
dψ _{−}_{λ}
(P)
dλ
=
−ξ ^{j} ∂ _{j} w ^{i}
and
we have
d
_{d}_{λ} ψ _{λ} w ^{i}  _{λ}_{=}_{0}
= 
∂ _{j} ξ ^{i} w ^{j} − ξ ^{j} ∂ _{j} w ^{i} 
= 
−L _{ξ} w ^{i} . 
7
d
dλ ^{w} j ^{ψ}
−1
λ
(P) ^{} .
^{∂}^{ψ}
i
λ
∂x
^{j}
^{} λ=0
i
= δ j ,
The action of a diffeo on a covector σ _{a} can be found by writing it, at a point P , as the gradient of a function. The covector ﬁeld ∇ _{a} f is in this way dragged to a covector ﬁeld ψ∇ _{a} f = ∇ _{a} (ψf) = ∇ _{a} [f ◦ ψ ^{−}^{1} ], with components given by
∇ _{i} (ψf) _{P} = ∂ _{i} (f ◦ ψ ^{−}^{1} ) _{P} = ∂ _{j} f _{ψ} −1 _{(}_{P}_{)} ∂ _{i} ψ ^{−}^{1} ^{j} .
Then ψ drags any covector ﬁeld σ _{a} to the covector ﬁeld ψσ _{a} with components
ψσ _{i} (P) = ∂ _{i} ψ ^{−}^{1} ^{j} σ _{j} [ψ ^{−}^{1} (P )]. (24)
Because a tensor is a sum of tensor products of vectors and covectors, a tensor ﬁeld T ^{a}^{·}^{·}^{·}^{b} _{c}_{·}_{·}_{·}_{d} is dragged to a tensor ﬁeld ψT ^{a}^{·}^{·}^{·}^{b} _{c}_{·}_{·}_{·}_{d} , with components
(25)
ψT ^{i}^{·}^{·}^{·}^{j} _{k}_{·}_{·}_{·}_{l} (P) = ∂ _{m} ψ ^{i} ··· ∂ _{n} ψ ^{j} ∂ _{k} ψ ^{−}^{1} ^{p} ··· ∂ _{l} ψ ^{−}^{1} ^{q} T ^{m}^{·}^{·}^{·}^{n} _{p}_{·}_{·}_{·}_{q} [ψ ^{−}^{1} (P )].
Finally, the Lie derivative of any tensor is given by
d
L ξ T ^{a}^{·}^{·}^{·}^{b} c···d = − dλ ψ _{λ} T ^{a}^{·}^{·}^{·}^{b} _{c}_{·}_{·}_{·}_{d} ,
(26)
and a calculation essentially identical to that for a vector ﬁeld veriﬁes that the deﬁnition yields Eq. (20).
2 Integration, forms and densities
2.1 Introduction to integration on manifolds
In ﬂat space, the area of a parallelogram spanned by the vectors A, B is A×B =  _{a}_{b} A ^{a} B ^{b} ; and the volume spanned the vectors A, B, C is A × B · C =  _{a}_{b}_{c} A ^{a} B ^{b} C ^{c} . Similarly, in Minkowski space, requiring that the volume spanned by four orthonormal vectors t ^{α} , x ^{α} , y ^{α} , z ^{α} be 1 implies that a parallelepiped Ω spanned by any four vectors A ^{α} , B ^{α} , C ^{α} , D ^{α} is
Ω =  _{α}_{β}_{γ}_{δ} A ^{α} B ^{β} C ^{γ} D ^{δ} .
The vectors are positively oriented if _{α}_{β}_{γ}_{δ} A ^{α} B ^{β} C ^{γ} D ^{δ} > 0.
The volume of an arbitrary region Ω is obtained by adding volumes of in
ﬁnitesimal parallelepipeds spanned by vectors along the coordinate axes, e e ^{α} , e ^{α} with lengths ∆x ^{0} , ∆x ^{1} , ∆x ^{2} , ∆x ^{3}
2
3
∆ ^{4} V = _{0}_{1}_{2}_{3} ∆x ^{0} ∆x ^{1} ∆x ^{2} ∆x ^{3}
=
1
_{4}_{!} _{µ}_{ν}_{σ}_{τ} ∆x ^{µ} ∆x ^{ν} ∆x ^{σ} ∆x ^{τ} (−1) ^{Π} ,
8
α
0
, e ^{α} 1 ,
where (−1) ^{Π} = 1 when µ, ν σ, τ is an even permutation Π of 0, 1, 2, 3 and (−1) ^{Π} = −1 for an odd permutation. Because _{α}_{β}_{γ}_{δ} A ^{α} B ^{β} C ^{γ} D ^{δ} is a scalar, the volume of a region of ﬂat space is given in any chart by
Ω = Ω _{0}_{1}_{2}_{3} dx ^{0} dx ^{1} dx ^{2} dx ^{3} ≡ Ω d ^{4} V.
^{} , that relates the volume element in two different coordinate
The Jacobian, ^{}
systems arises from the coordinate transformation of the totally antisymmetric tensor _{α}_{β}_{γ}_{δ} :
∂x
∂x
∂x
_{} _{0} _{1} _{2} _{3} _{=} ^{∂}^{x} µ
∂x ^{ν} ∂x ^{σ} ∂x ^{τ}
_{} 0123 .
∂x ^{}
A curved space is locally ﬂat in the sense that, in a locally inertial coordinate system, the metric components are ﬂat up to quadratic order in the coordinates. By demanding that the volumes of small regions, to ﬁrst order in the length of a side, are those measured by a locally inertial observer using her local Minkowski metric, one uniquely picks out the volume element
∂x ^{} ^{0} ∂x ^{} ^{1} ∂x ^{} ^{2}
∂x _{} _{3} µνστ =
d ^{4} V = _{0}_{1}_{2}_{3} dx ^{0} dx ^{1} dx ^{2} dx ^{3} .
(27)
Because the totally antisymmetric tensor _{0}_{1}_{2}_{3} has the value ^{} g, the volume element can be written in the equivalent form ^{3}
d ^{4} V = ^{} g dx ^{0} dx ^{1} dx ^{2} dx ^{3} ,
(28)
and in ndimensions
d ^{n} V = _{1}_{·}_{·}_{·}_{n} dx ^{1} · · · dx ^{n} = ^{} g dx ^{1} · · · dx ^{n} .
(29)
In index notation, one writes
d ^{4} V
= _{a}_{·}_{·}_{·}_{b} dS ^{a}^{·}^{·}^{·}^{b} ,
and thinks of dS ^{a}^{·}^{·}^{·}^{b} having components
“
1
dS ^{µ}^{ν}^{σ}^{τ} = ± _{4}_{!} dx ^{µ} dx ^{ν} dx ^{σ} dx ^{τ} ”.
^{3} The equality _{0}_{1}_{2}_{3} = ^{} g can be obtained as follows. In an orthonormal frame (e.g., in
locally inertial coordinates), _{0}_{1}_{2}_{3} and ^{} g each have the value 1. Under a coordinate trans
formation from x ^{µ} to x ^{} ^{µ} , ^{} g, like _{0}_{1}_{2}_{3} , is multiplied by the absolute value of the Jacobian
∂x/∂x ^{} , implying that for any positively oriented coordinate system, ^{} g = _{0}_{1}_{2}_{3} .
9
The integral,
Ω fd ^{n} V = Ω f _{1}_{·}_{·}_{·}_{n} dx ^{1} · · · dx ^{n} = Ω f
^{} g dx ^{1} · · · dx ^{n} ,
(30)
over a region Ω is is welldeﬁned (that is, its value is independent of the choice of coordinates), because, under a change of coordinates, the integrand on the right
side is multiplied by the Jacobian ^{}
∂x
∂x
^{} ^{}
.
2.2 Forms and densities
The tensor _{a}_{·}_{·}_{·}_{b} and the quantity ^{} g that appear in the alternative ways of writ ing an integral are, respectively, an example of a form and a scalar density. As we will see, there is a duality between forms and densities that underlies a equivalence between Stokes’s theorem and Gauss’s theorem. We deﬁne forms and densities, present the duality that relates them, and go on to the corresponding duality relat ing the integral theorems.
Forms. Deﬁnition. A pform σ _{a}_{·}_{·}_{·}_{b} is an antisymmetric, covariant tensor with p indices. In particular, a scalar f is a 0form, a covariant vector A _{a} is a 1form, and an antisymmetric 2index tensor F _{a}_{b} is a 2form. Deﬁnition. The exterior derivative dσ of a pform σ is the p + 1 form
(dσ) _{a}_{b}_{·}_{·}_{·}_{c} = (p + 1)∇ _{[}_{a} σ _{b}
c]
.
(31)
The factor p + 1 is the number of independent ways of distributing the p + 1 indices between ∇ and σ. The antisymmetry implies that dσ is independent of the derivative operator; in any chart it has components
(dσ) _{i}_{j}_{·}_{·}_{·}_{k} = (p + 1)∂ _{[}_{i} σ _{j}
k]
.
(32)
Antisymmetry and the commutativity of partial derivatives imply for any form σ
d ^{2} σ = 0.
(33)
Lie derivatives and exterior derivatives commute,
L _{v} dσ = dL _{v} σ,
10
(34)
and the two derivatives satisfy the Cartan identity,
L _{v} σ = v · (dσ) + d(v · σ), where (v · σ) _{a}_{·}_{·}_{·}_{b} :=
v ^{c} σ _{c}_{a}_{·}_{·}_{·}_{b} .
(35)
Each relation can be proved by induction on p (the number of indices of σ). For an nform in n dimensions, the second relation can be written as
L _{v} σ _{a}_{·}_{·}_{·}_{b} = ∇ _{c} (σ _{a}_{·}_{·}_{·}_{b} v ^{c} ),
(36)
with special case
(37)
In ndimensions, any nonzero nform is functionally proportional to any other,
because each has only one independent component. In particular, because any n form σ is given by σ _{a}_{·}_{·}_{·}_{b} = f _{a}_{·}_{·}_{·}_{b} for some scalar f , the integral of an nform is welldeﬁned, given in any coordinate system by
L v a···b = ∇ c ( a···b v ^{c} ) = a···b ∇ c v ^{c} .
Ω σ _{a}_{·}_{·}_{·}_{b} dS ^{a}^{·}^{·}^{·}^{b} =
σ _{1}_{·}_{·}_{·}_{n} dx ^{1} · · · dx ^{n} .
(Again the integral is well deﬁned because a change of coordinates multiplies the value of a pform by the Jacobian of the transformation.)
Densities.
A scalar density f (of weight 1), by deﬁnition, transforms under a change of
coordinates in the same way as one component of an nform in n dimensions:
^{} f. Just as one can write any nform as a multiple of _{a}_{·}_{·}_{·}_{b} (once one is
f → ^{}
given a metric), one can write any scalar density as a scalar multiple of ^{} g:
∂x
∂x
f = f ^{} g,
(38)
for some scalar f (namely f/ ^{} g). One can analogously introduce vector and
tensor densities by transformation laws that differ from those of vectors and ten sors by the Jacobian of the transformation: The change of the components of a
vector density under a coordinate transformation is given by j ^{i} → ^{}
∂x
∂x
^{} _{}
∂x ^{} ^{i} ∂x ^{k}
j ^{k} .
Again one can write any vector density in the form j ^{a} = j ^{a} ^{} g, with j ^{a} a vector ﬁeld. The Lie derivative of a scalar or tensor density can be deduced from this fact as follows (a metricfree derivation uses the geometric deﬁnition of Lie derivative
11
and the fact that the action of a diffeo on a density differs from its action on a tensor by the inverse Jacobian of the diffeo): We have
L _{v} ^{} g = ^{∂} ^{}^{g}^{} ∂g ab
L v g ab = ^{1}
2
1
∂g
^{} g
∂g
ab L v g ab .
Now the coefﬁcient of the component g _{i}_{j} in the determinant g is the minor ∆ ^{i}^{j} of
g _{i}_{j} , and the inverse metric is given by g ^{i}^{j} = ^{∆} _{g} . Thus
we have
ij
∂g
ij = ∆ ^{i}^{j} = gg ^{i}^{j} , and
∂g
L _{v} ^{} g = ^{1} _{2} ^{} gg ^{a}^{b} L _{v} g _{a}_{b} = ^{} g∇ _{a} v ^{a} = ∇ _{a} ( ^{} gv ^{a} ).
(39)
Finally, Eqs. (2) and (39) imply that the Lie derivative of a general scalar density f is
(40)
L _{v} f = ∇ _{a} (fv ^{a} ).
Duality. A duality between pforms σ _{a} _{1} _{·}_{·}_{·}_{a} _{p} and antisymmetric tensor densities A ^{a} ^{1} ^{·}^{·}^{·}^{a} ^{q} , with q = n − p indices (n the dimension of the space) is given by
_{A} a _{1} ···a _{q} _{=}
p! g ^{a} ^{1} ^{·}^{·}^{·}^{a} ^{q} ^{b} ^{1} ^{·}^{·}^{·}^{b} ^{p} σ _{b} _{1} _{·}_{·}_{·}_{b} _{p} .
1
(41)
1
The inverse relation is σ _{a} _{1} _{·}_{·}_{·}_{a} _{p} = ± _{q}_{!} g ^{−}^{1}^{/}^{2} _{a} _{1} _{·}_{·}_{·}_{a} _{p} _{b} _{1} _{·}_{·}_{·}_{b} _{q} A ^{b} ^{1} ^{·}^{·}^{·}^{b} ^{q} , where the sign is
positive for a positive deﬁnite metric, negative for a metric with Lorentz signature. The divergence ∇ · A, of an antisymmetric density,
(∇ · A) ^{b}^{·}^{·}^{·}^{c} := ∇ _{c} A ^{c}^{a}^{·}^{·}^{·}^{b} ,
(42)
is dual to the exterior derivative dσ of the form σ dual to A, and it is independent of the choice of ∇, having components
_{∇} k _{A} ki···j _{=} _{∂} k _{A} ki···j _{.}
_{(}_{4}_{3}_{)}
In particular, the equation for the divergence of a vector density A ^{a} ,
∇ _{a} A ^{a} = ∂ _{i} A ^{i} ,
is equivalent (once one has a metric) to the familiar relation ∇ _{a} A ^{a} =
12
(44)
_{}_{g}_{} ∂ _{i} ( ^{} gA ^{i} ).
1
√
The relations (33), (34), and (35) are dual to the relations
∇ · (∇ · A) 
= 
0, 
(45) 
L _{v} ∇ · A 
= 
∇ · L _{v} A, 
(46) 
L _{v} A 
= 
∇ · (v ∧ A) + v ∧ ∇ · A, 
(47) 
where (v ∧ A) ^{a}^{b}^{·}^{·}^{·}^{c} := (q + 1)v ^{[}^{a} A ^{b}^{·}^{·}^{·}^{c}^{]} . On an ndimensional manifold, integrals are naturally deﬁned for nforms or for scalar densities, which can be said to be dual to their corresponding nforms. That is, the integrals
ω _{a}_{·}_{·}_{·}_{b} dS ^{a}^{·}^{·}^{·}^{b} = ω _{1}_{·}_{·}_{·}_{n} dx ^{1} · · · dx ^{n}
and
fdx ^{1} · · · dx ^{n}
(48)
are well deﬁned because under a change of coordinates, each integrand is multi plied by the Jacobian of the transformation. The mathematical literature adopts an indexfree notation in which the integral of an nform ω over an ndimensional
region Ω is written Ω ω.
2.3 Diffeomorphism invariance
The usual invariance of an integral under a coordinate transformation has as its
active equivalent the invariance of an integral under a diffeo. Let ω _{a}
form on an ndimensional volume V . With ψ(V ) the image of V and ψω _{a} dragged nform, the invariance relation is
be an n
the
b
b
ψ(V ) ^{ψ}^{ω} ^{=} V
ω.
(49)
As in the case of coordinate transformations, invariance under diffeos follows
change by a Jacobian. Intuitively,
the invariance follows from the physical equivalence of diffeorelated tensors on diffeorelated domains. A corollary for a family of diffeos, ψ _{λ} , is used to obtain the relation between conservation of vorticity and conservation of circulation:
from the fact that the components of ω _{a}
b
Let ξ ^{a} be the generator of the family ψ _{λ} . Then
d
_{d}_{λ} ψ λ (V ) ω = V L _{ξ} ω.
13
(50)
The proof is immediate from Eq. (26), starting from Eq. (49) in the form
ψ _{λ} (V ) ω = V
ψ _{−}_{λ} ω:
d
dλ ψ _{λ} (V ) ^{ω} ^{=} V
d
_{d}_{λ} ψ _{−}_{λ} ω = V L _{ξ} ω.
In particular, for ψ _{τ} the family of diffeos describing the ﬂow of a ﬂuid with 4
velocity u ^{α} , we have
d
dτ _{c}
τ
hu _{α} dl ^{α} = c L _{u} (hu _{α} )dl ^{α} ,
(51)
where c is a closed curve in the ﬂuid and c _{τ} = ψ _{τ} (c).
3 Gauss’s theorem and Stokes’s theorem
To understand the relation between differential and integral conservation laws for relativistic stars and black holes, one needs the generalization of Stokes’s theorem and Gauss’s theorem to manifolds. It is helpful to see quickly how these general izations go before we move to a more formal presentation. The simplest version of Stokes’s theorem is its 2dimensional form, namely Green’s theorem:
S (∂ _{x} A _{y} −
∂ _{y} A _{x} )dx dy = c (A _{x} dx + A _{y} dy),
where c is a curve bounding the 2surface S. The theorem involves the integral over a 2surface of the antisymmetric tensor ∇ _{a} A _{b} − ∇ _{b} A _{a} . In three dimensions, the tensor is dual to the curl of A: (∇ × A) ^{a} = ^{a}^{b}^{c} ∇ _{b} A _{c} ; and Stokes’s general ization of Green’s theorem can be written in either the form
S (∇ × A) · dS = c A · dl
or in terms of the antisymmetric tensor ∇ _{a} A _{b} − ∇ _{b} A _{a}
S (∇ _{a} A _{b} − ∇ _{b} A _{a} )dS ^{a}^{b} = c A _{a} dl ^{a} ,
(52)
where, for an antisymmetric tensor F _{a}_{b} , F _{a}_{b} dS ^{a}^{b} means F _{1}_{2} dx ^{1} dx ^{2} +F _{2}_{3} dx ^{2} dx ^{3} + F _{3}_{1} dx ^{3} dx ^{1} . Written in this form, the theorem is already correct in a curved space time. The reason is that the antisymmetric derivative ∇ _{a} A _{b} − ∇ _{b} A _{a} has in curved space the same form it has in ﬂat space: As we have seen, its components in any coordinate system are just ∂ _{i} A _{j} − ∂ _{j} A _{i} .
14
As a result, the ﬂatspace proof of Green’s theorem and Stokes’s theorem,
b f ^{} (x)dx = f (b)−f (a)), holds
based on the Fundamental Theorem of calculus ( ^{}
a
in curved space as well: Let S be a coordinate square in a surface of constant x ^{3} . Then
S (∂ _{1} A _{2} − ∂ _{2} A _{1} )dx ^{1} dx ^{2} = c (A _{1} dx ^{1} + A _{2} dx ^{2} ),
with the boundary of the square traversed counterclockwise as seen from above the square. Gauss’s theorem,
(53)
_{} V ∇ _{a} A ^{a} d ^{3} x = _{} S A ^{a} dS _{a} ,
with S a surface bounding the volume V again has a simple generalization to curved space. Although the divergence ∇ _{a} A ^{a} does not have components ∂ _{i} A ^{i} ,
the divergence of A ^{a} :=
∂ _{i} A ^{i} . Again the ﬂatspace proof
of Gauss’s theorem follows from an integration over a coordinate cube using the fundamental theorem of calculus for the integral over each coordinate; and again the integration over a coordinate cube has the identical form in curved space. If V is a coordinate cube
A ^{a} ^{√} g does: ∇ _{a} A ^{a} =
V ∂ _{i} A ^{i} dx ^{1} dx ^{2} dx ^{3} = S (A ^{1} dx ^{2} dx ^{3}
+ A ^{2} dx ^{1} dx ^{3} + A ^{3} dx ^{1} dx ^{2} );
and any volume is approximated by an arbitrarily ﬁne division into coordinate cubes.
15
3.1 Gauss’s theorem (divergence theorem)
In R ^{n} , in Cartesian coordinates, the integral of a divergence over an ncube can be expressed as a surface integral after an integration by parts:
V ∂ _{i} A ^{i} d ^{n} x = 
V ∂ _{1} A ^{1} dx ^{1} dx ^{2} 
· · · dx ^{n} + ··· + V ∂ _{n} A ^{n} dx ^{n} dx ^{1} · · · dx ^{n}^{−}^{1} 

= 
∂ 1+ V A ^{1} dx ^{2} · · · 
dx ^{n} − ∂ 1− V A ^{1} dx ^{2} · · · dx ^{n} + ··· 

+ ∂ n+ V A ^{n} dx ^{1} · · · dx ^{n}^{−}^{1} − ∂ n− V A ^{n} dx ^{1} · · · dx ^{n}^{−}^{1} 

= 
∂V A ^{i} dS _{i} (∂V means the boundary of V ) 
(54) 
where
dS _{i} = ± _{i}_{j}_{·}_{·}_{·}_{k} dx ^{j} · · · dx ^{k}
1
(n − 1)! ^{,} ^{w}^{i}^{t}^{h}
dS _{1} = +dx ^{2} · · · dx ^{n} for x ^{1} increasing outward, dS _{1} = −dx ^{2} · · · dx ^{n} , for x ^{1} increasing inward.
More generally the integral over any volume V in R ^{n} of a divergence is related to a surface integral by
V ∂ _{i} A ^{i} d ^{n} V = ∂V A ^{i} dS _{i} = ∂V A ^{i} n _{i} dS
where n _{i} is the unit outward normal to S (along the gradient of an outwardly increasing scalar) and dS the area element of S. In curved space the analogous result follows immediately from the form of the divergence of a vector density:
Ω ∇ _{a} A ^{a} d ^{n} V = Ω ∂ _{i} ^{} gA ^{i} d ^{n} x.
(55)
To generalize Gauss’s theorem to an ndimensional manifold M with metric
g _{a}_{b} , let Ω be an ndimensional submanifold with smooth boundary ∂Ω. Deﬁne a
surface element dS _{a} on ∂Ω by requiring that, in any chart x ^{1} , is constant on ∂Ω and increasing outward,
, x ^{n} for which x ^{1}
dS _{i} = ∇ _{i} x ^{1} ^{} g dx ^{2} · · · dx ^{n} = δ
i 1 ^{} g dx ^{2} · · · dx ^{n} .
(56)
This deﬁnition involves no choice of orientation (in fact Ω need not be ori entable, as long as the outward normal to ∂Ω is welldeﬁned.)
16
Gauss’s Theorem in Curved Space. For any smooth vector ﬁeld A ^{a} on M ,
Ω ∇ _{a} A ^{a} d ^{n} V = ∂Ω A ^{a} dS _{a} .
(57)
Sketch of proof. When Ω is a coordinate cube the steps in Eq. (54) go through as
written, with A ^{i} replaced by A ^{i} = A ^{i} ^{} g:
Ω
∂ _{i} A ^{i} d ^{n} x =
∂ 1+ V A ^{1} dx ^{2} · · · dx ^{n} − <
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