Lecture 5 Tensors

Objectives: Introduction to tensors, the metric tensor, index raising and lowering and tensor derivatives. Reading: Schutz, chapter 3; Hobson, chapter 4; Rindler, chapter 7

5.1

Tensors

Not all physical quantities can be represented by scalars, vectors or oneforms. We will need something more exible, and tensors t the bill. Tensors are machines that produce scalars when operating on multiple N vectors and one-forms. More specically an tensor produces a scalar M given N one-form and M vector arguments. e.g. if T ( p, V , q , r ) is a scalar then T is a 3 1 tensor. 1 0

Since vectors acting on one-forms produce scalars, vectors are similarly one-forms are 0 1 tensors and scalars are 0 0

tensors;

tensors.

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5.2

Tensor components

Components of a tensor in a given frame are found by feeding it basis vectors and one-forms. e.g. T ( , e , , ) = T . (NB 3 up indices, 1 down matching the rank.) However, like vectors and one-forms, T exists independently of coordinates. It is straightforward to show that for arbitrary arguments T ( p, A, q , r ) = T p A q r . All indices are dummy, so this is a single number. For it to be a scalar the tensor components must transform appropriately. Using transformation properties of p , A etc, one can show that T

= T .

Extends in an obvious manner for dierent indices. This is often used as the denition of tensors, similar to our denition of vectors.

5.3

Why tensors?
1 1 tensor such that T (V , p ) is a scalar. Now consider T (V , ),

Consider a

i.e. one unlled slot is available for a one-form, with which it will give a scalar = this is a vector, i.e. W = T (V , ), or in component form W = T V . This is one reason why tensors appear in physics, e.g. to relate D to E in EM, or stress to strain in solids. More importantly: Tensors allow us to express mathematically the frameinvariance of physical laws. If S and T are tensors and S = T is true in one frame, then it is true in all frames.

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5.4

The metric tensor

A B = A B .

Recall the scalar product 0 2

A B is a scalar while A and B are vectors. is therefore a producing a scalar given two vector arguments: A B = A, B . are thus components of a tensor, the metric tensor.

tensor

5.4.1

Index raising and lowering

The metric tensor arises directly from the physics of spacetime. This gives it a special place in associating vectors and one-forms. Consider as before an unlled slot, this time with : (A, ). Fed a vector, this returns a scalar, so it is a one-form. We dene this as the one-form equivalent to the vector A: = (A, ), A or in component form A = A . Thus can be used to lower indices, as in T = T , or T = T . If we dene by
= ,

then applying it to an arbitrary one-form A = A , = ( ) A , = A, = A , so it raises indices. The metric tensor in its covariant and contravariant forms, and , can be used to switch between one-forms and vectors and to lower or raise any given index of a tensor.

In SR = .

e.g. /x is a gradient vector.

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5.5

Derivatives of tensors

Derivatives of scalars, such as /x = give one-forms but what about derivatives of vectors, V /x ? Work out how they transform: V = V thus V x

V , x V = , x =

because the

are constant in SR (but not in GR!). x , = x x x

Using the chain-rule

and as in the last lecture

x = . x V V . = x x 1 1 tensor. Key point:

Therefore

This is the transformation rule of a

The derivatives of tensors are also tensors we dont need to introduce a new type of quantity phew!