Homework 4.

Solutions
1 Calculate the Christoffel symbols of the canonical flat connection in E3 in
a) cylindrical coordinates (x = r cos , y = r sin , z = h),
b) spherical coordinates.
(For the case of sphere try to make calculations at least for components rrr , rr , rr , r , . . . , r )

Remark One can calculate Christoffel symbols using Levi-Civita Theorem. There is a third way to
calculate Christoffel symbols: It using approach of Lagrangian. This is the easiest way. (see the Homework
6)

In cylindrical coordinates (r, , h) we have

( x = r cos p
r = x2 + y 2
y = r sin and = arctna y
x
z=h h=z

We know that in Cartesian coordinates all Christoffel symbols vanish. Hence in cylindrical coordinates
(see in detail lecture notes):
2 x r 2 y r 2 z r
rrr = 2 + 2 + 2 = 0,
r x r y r z
2 x r 2 y r 2 z r
rr = rr = + + = sin cos + sin cos = 0 .
r x r y r z
2 x r 2 y r 2 z r x y
r = 2
+ 2
+ 2
= x y = r .
x y z r r
2 x 2 y 2 z

rr = + 2 + 2 = 0.
2 r x r y r z
2 x 2 y 2 z y x 1

r = r = + + = sin 2 + cos 2 =
r x r y r z r r r
2 x 2 y 2 z x y

= + + = x 2 y 2 = 0 .
2 x 2 y 2 z r r
All symbols h , h vanish

rrh = rhr = rhh = rh = rh =

hr = dots = 00

2 2 2
x y z
since h... = h... = h... =0
2z h h h 2z
For all symbols h h = since x = y = 0 and y = 1. On the other hand all vanish. Hence
h
all symbols vanish.

b) spherical coordinates
p
( 2 2 2
x = r sin cos r = x + y + z
z
y = r sin sin = arccos 2 2 2


x +y +z
z = r cos = arctan xy

We already know the fast way to calculate Christoffel symbol using Lagrangian of free particle and this
method work for a flat connection since flat connection is a Levi-Civita connection for Euclidean metric
So perform now brute force calculations only for some components. (Then later (in homework 6) we
will calculate using very quickly Lagrangian of free particle. )

1
 2 xi
rrr = 0 since 2r = 0.

2 x r 2 y r 2 z r x y z
rr = rr = + + = cos cos + cos sin sin = 0 ,
r x r y r z r r r

2 x r 2 y r 2 z r x y z
r = 2
+ 2
+ 2
= r sin cos r sin sin r cos = r
x y z r r r
2 x r 2 y r 2 z r x y
rr = rr = + + = sin sin + sin cos = 0
r x r y r z r r
and so on....
2 a) Consider a connection such that its Christoffel symbols are symmetric in a given coordinate system:
ikm = imk .
Show that they are symmetric in an arbitrary coordinate system.
b ) Show that the Christoffel symbols of connection are symmetric (in any coordinate system) if and
only if
X Y Y X [X, Y] = 0 ,
for arbitrary vector fields X, Y.
c) Consider for an arbitrary connection the following operation on the vector fields:

S(X, Y) = X Y Y X [X, Y]

and find its properties.

Solution
0 0
a) Let ikm = imk . We have to prove that ik0 m0 = im0 k0
We have 0 0
0 xi xk xm i xr xi
ik0 m0 = + . (1)
xi xk0 xm0 km xk0 xm0 xr
Hence 0 0
0 xi xm xk i xr xi
im0 k0 = +
xi xm0 xk0 mk xm0 xk0 xr
xr xr
But ikm = imk and xm0 xk0
= xk0 xm0
. Hence
0 0 0 0
0 xi xm xk i xr xi xi xm xk i xr xi 0
im0 k0 = i m 0 k 0 mk + m0 k 0 r
= i m 0 k 0 km + k 0 m 0 r
= ik0 m0 .
x x x x x x x x x x x x

b) The relation
X Y Y X [X, Y] = 0
holds for all fields if and only if it holds for all basic fields. One can easy check it using axioms of connection

(see the next part). Consider X = x i , Y = xj then since [i , j ] = 0 we have that

X Y Y X [X, Y] = i j j i = kij k kji k = (kij kji )k = 0

We see that commutator for basic fields X Y Y X [X, Y] = 0 if and only if kij kji = 0.
c) One can easy check it by straightforward calculations or using axioms for connection that S(X, Y)
is a vector-valued bilinear form on vectors. In particularly S(f X, Y ) = f S(X, Y) for an arbitrary (smooth)
function. Show this just using axioms defining connection:

S(f X, Y ) = f X Y Y (f X) [f X, Y] = f X Y f Y X Y f X + [Y, f X] =

2
 f X Y f Y X (Y f )X + Y f X + f [Y, X] = f (X Y Y X [X, Y]) = f S(X, Y)

3 Let 1 , 2 be two different connections. Let (1) ikm and (2) ikm be the Christoffel symbols of connec-
tions 1 and 2 respectively.
i
a) Find thetransformation
law for the object : Tkm = (1) ikm (2) ikm under a change of coordinates.
1
Show that it is tensor.
2
b)? Consider an operation 1 2 on vector fields and find its properties.
Christoffel symbols of both connections transform according the law (1). The second term is the same.
Hence it vanishes for their difference:

xi xk xm (1) i xi0 xk xm
0
0
(1) i0 (2) i0
Tki0 m0 = k0 m0 k 0 m0 = km (2) i
km = Ti
0
xi xk xm 0
xi xk0 xm0 km

0 1
We see that T0ikm0 transforms as a tensor of the type .
2
b) One can do it in invariant way. Using axioms of connection study T = 1 2 is a vector field.
Consider
T (X, Y) = 1X Y 2X Y

Show that T (f X, Y) = f T (X, Y) for an arbitrary (smooth) function, i.e. it does not possesses derivatives:

T (f X, Y) = 1f X Y 2f X Y = (X f )Y + f 1X Y (X f )Y f 2X Y = f T (X, Y).

4 a) Consider tm = iim . Show that the transformation law for tm is
0
xm 2 xr xk
tm0 = 0 tm + .
x m xm0 xk0 xr

b) Show that this law can be written as

xm x
tm0 = tm + log det .
xm0 xm0 x0

Solution. Using transformation law (1) we have

0 0
0 xi xk xm i xr xi
tm 0 = ii0 m00 = 0 0 km +
xi xi xm xi0 xm0 xr
0
xi xk
We have that xi xi0 = ik . Hence
0 0 0 0
0 xi xk xm i xr xi k x
m
xr xi xm xr xi
tm0 = ii0 m00 = + = i
+ = t m + .
xi xi xm km xi xm xr
0 0 0 0 i
xm km xi xm xr
0 0 0
xm 0
xi0 xm0 xr

x
b) When calculating xm0
log det x 0 use very important formula:

det A = det ATr (A1 A) log det A = Tr (A1 A) .

Hence 0
x xi 2 xr
log det =
xm0 x 0 x xi0 xm0
r

3
and we come to transformation law for (1).
To deduce the formula for det A notice that

det(A + A) = det A det(1 + A1 A)

and use the relation: det(1 + A) = 1 + Tr A + O( 2 A)

5 Calculate Christoffel symbols of the connection induced on the surface M in En equipped with
canonical flat connection.
a) M = S 1 in E2
b) M parabola y = x2 in E2
c) M cylinder,cone,sphere in E3 .
d) saddle z = xy Solution.
a) Consider polar coordinate on S 1 , x = R cos , y = R sin . We have to define the connection on S 1

induced by the canonical flat connection on E2 . It suffices to define =
.

Recall the general rule. Let r(u ): xi = xi (u ) is embedded surface in Euclidean space En . The basic
vectors u = r(u)
u . To take the induced covariant derivative X Y for two tangent vectors X, Y we take
a usual derivative of vector Y along vector X (the derivative with respect to canonical flat connection: in
Cartesian coordiantes is just usual derivatives of components) then we take the tangent component of the
answer, since in general derivative of vector Y along vector X is not tangent to surface:
2
(canonical) r(u)


= = =
u u u u tangent u u tangent

(canonical u ) is just usual derivative in Euclidean space since for canonical connection all Christoffel
symbols vanish.)
In the case of 1-dimensional manifold, curve it is just tangential acceleration!:
2
(canonical) d r(u)
= uuu = u = = atangent
u u u u tangent du2 tangent

For the circle S 1 , (x = R cos , y = R sin ), in E2 . We have

x y
r = = + = R sin + R cos ,
x y x y

(canonic.)
= = = r =
tangent tangent


(R sin ) + (R cos ) = R cos R sin = 0,
x y tangent x y tangent

since the vector R cos x R sin y is orthogonal to the tangent vector r . In other words it means that
acceleration is centripetal: tangential acceleration equals to zero.
We see that in coordinate , = 0.
Additional work: Perform calculation of Christoffel symbol in stereographic coordinate t:

2tR2 R(t2 R2 )
x= , y = .
R 2 + t2 t2 + R2

4
In this case
x y 2R2 2 2
rt = = + = (R t ) + 2tR ,
t t x t y (R2 + t2 )2 x x

t (canonic.)
= tt t = t t = rt = (rtt )tangent =
t t tangent t tangent

4t 2R2
2 r t + 2t + 2R
t + R2 (R2 + t2 )2 x y tangent

In this case rtt is not orthogonal to velocity: to calculate (rtt )tangent we need to extract its orthogonal
component:
(rtt )tangent = rtt hrtt , nt in

We have
r 1
nt = = 2 2
2tRx + (t2 R2 )y ,
|r| R +t
4R3
where hrt , ni = 0. Hence hrtt , nt i = (t2 +R2 )2 and

(rtt )tangent = rtt hrtt , nt in =

4t 2R2 4R3 1 2t
2 2
rt + 2 2t + 2R + 2 2 2tRx + (t2 R2 )y = 2 rt
t +R (R + t2 )2 x y 2 2
(t + R ) R + t 2 t + R2
We come to the answer:
2t 2t
t t = t , i.e.ttt = 2
t2 + R2 t + R2
Of course we could calculate the Christoffel symbol in stereographic coordinates just using the fact that we
already know the Christoffel symbol in polar coordinates: = 0, hence

dt d d d2 dt d2 dt
ttt = + 2 = 2
d dx dx dt d dt d


It is easy to see that t = R tan 4 + 2 , i.e. = 2 arctan Rt
2 and

d2
d2 dt dt2 2t
ttt = = d
= .
dt2 d dt
t2 + R 2

b) For parabola x = t, y = t2

x y
rt = = + = + 2t ,
t t x t y x y

(canonic.)
= ttt t = t t = rt = (rtt )tangent = 2
t t tangent t y tangent
tangent

To calculate (rtt )tangent we need to extract its orthogonal component: (rtt )tangent = rtt hrtt , nt in, where n
is an orthogonal unit vector: hn, rt i = 0, hn, ni = 1:

1
nt = (2tx + y ) .
1 + 4t2
We have

1 1
(rtt )tangent = rtt hrtt , nt in = 2y 2y , (2tx + y ) (2tx + y ) =
1 + 4t2 1 + 4t2

5
 4t 8t2 4t 4t
2
x + y = (x + 2ty ) = t
1 + 4t 1 + 4t2 1 + 4t2 1 + 4t2
We come to the answer:
4t 4t
t t = t , i.e.ttt =
1 + 4t2 1 + 4t2
Remark Do not be surprised by resemblance of the answer to the answer for circle in stereographic coordi-
nates.

c) cylinder, cone and sphere

a)
Cylinder(
x = a cos
r(h, ): y = a sin .
z= h
0 a sin
h = rh = 0 , = r = a cos
1 0
Calculate
2r
h h = hhh h +
hh = = 0 since rhh = 0.
h2 tangent

Hence hhh =
hh = 0

2r
h = h = hh h +
h = = 0 since rh = 0
h tangent

Hence hh = hh =
h = h = 0.

2
a cos
r
= h h +
= = a sin =0
tangent 0 tangent

a cos
since the vector r = a sin is orthogonal to the surface of cylinder. Hence hh = hh =
h =
0
h = 0
We see that for cylinder all Christoffel symbols in cylindrical coordinates vanish. This is not big surprise:
in cylindrical coordinates metric equals dh2 = a2 d2 . This due to Levi-Ciovita theorem one can see that
Levi-Civita which equals to induced connection vanishes since allcoefficients are constants.

For cone: see Coursework problem 3.

(
x = R sin cos
For the sphere r(, ): y = R sin sin , we have
z = R cos

R cos cos R sin sin R sin cos

= r = R cos sin , = r = R sin cos , n = R sin sin

R sin 0 R cos

Calculate
2r
= +
= =0
2 tangent

6
 2
r
since 2 = Rn is orthogonal to the sphere. Hence = = 0.

Now calculate 2
r
= + = .
tangent
We have
2r
= cotan r ,

hence
2r
= +
= = cotan r , i.e.
tangent

= 0,
= cotan

Now calculate
2r
= +
= .
tangent

We have
2r
= cotan r ,

hence
2r
= +
= = cotan r , i.e.
tangent

= 0,
= cotan . Of course we did not need to perform these calculations: since is symmetric
connection and = , i.e.

= = 0
= = cotan .

and finally
2r
= +
= .
2 tangent

We have

R sin cos R cos cos sin cos
2r
= R sin sin = sin cos R cos sin R sin sin sin = sin cos r R sin2 n ,
2
2
0 R sin cos

hence
2r
= +
= = sin cos r , i.e.
tangent

= sin cos ,
= 0.

(x = u
1 0
For saddle z = xy: We have r(u, v): y = v , u = ru = 0 , v = rv = 1 It will be useful also
z = uv v u

v
to use the normal unit vector n = 1+u12 +v2 u .
1
Calculate:
2
u v r
u u = uu u + uu v = = (ruu )tangent = 0 since ruu = 0.
u2 tangent

7
Hence uuu = vuu = 0.
Analogously uvv = vvv = 0 since rvv = 0.
Now calculate uuv , vuv , uvu , vvu :

0
u v = v u = uuv u + vuv v = (ruv )tangent = 0
1 tangent

Using normal unit vector n we have: (ruv )tangent = ruv hruv , nin = uuv u + vuv v =
* +
0 0 0 v v
0 1 1
= 0 0, u u =
1 + u2 + v2 1 + u2 + v2
1 tangent 1 1 1 1

v 1 0
1 v u u = vru + urv .
u = 0+
1 + u2 + v 2 1 + u2 + v 2 1 + u2 + v 2 1 + u2 + v 2
u2 + v 2 v u
Hence uuv = uvu = 1+uv2 +v2 and vuv = vvu = 1+uu2 +v2 .
Sure one may calculate this connection as Levi-Civita connction of the induced Riemannian metric using
explicit Levi-Civita formula or using method of Lagrangian of free particle.