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Lecture Notes 12
The coefficients Γkij are known as the Christoffel symbols, and will be deter-
mined below. Recall that lij are just the coefficients of the second fundamen-
tal form. To find out what lij are note that
2
2
−lik = −N, Xik = Ni , Xk = − lij Xj , Xk =− lij gjk .
j=1 j=1
Thus (lij ) = (lij )(gij ). So if we let (g ij ) := (gij )−1 , then (lij ) = (lij )(g ij ), which
yields
j
2
li = lik g kj .
k=1
1
Last revised: November 12, 2004
1
Exercise 1. What is det(lij ) equal to?.
Exercise 2. Show that Ni = −dn(Xi ) = S(Xi ).
Next we compute the Christoffel symbols. To this end note that
2
2
Xij , Xk = Γlij Xl , Xk = Γlij glk ,
l=1 l=1
Thus
1
Xij , Xk = (gki )j + (gjk )i − (gij )k .
2
So we conclude that
2
1
Γkij = (gli )j + (gjl )i − (gij )l g lk .
l=1
2
Note that the last equation shows that Γkij are intrinsic quantities, i.e., they
depend only on gij (and derivatives of gij ), and so are preserved under isome-
tries.
Exercise 3. Compute the Christoffel symbols of a surface of revolution.
2
2.7 The Gauss and Codazzi-Mainardi Equations, Rie-
mann Curvature Tensor, and a Second Proof of
Gauss’s Theorema Egregium
Here we shall derive some relations between lij and gij . Our point of depar-
ture is the simple observation that if X : U → R3 is a C 3 regular patch, then,
since partial derivatives commute,
Xijk = Xikj .
Note that
2
Xijk = Γlij Xl + lij N
k
l=1
2
2
= (Γlij )k Xl + Γlij Xlk + (lij )k N + lij Nk
l=1 l=1
2 2
2
2
= (Γlij )k Xl + Γlij Γm
lk Xm + llk N + (lij )k N − lij lkl Xl
l=1 l=1 m=1 l=1
2 2
2
2 2
= (Γlij )k Xl + Γlij Γm
lk Xm + Γlij llk N + (lij )k N − lij lkl Xl
l=1 l=1 m=1 l=1 l=1
2 2
2
= (Γlij )k + Γpij Γlpk − lij lkl Xl + Γlij llk + (lij )k N.
l=1 p=1 l=1
Setting the normal and tangential components of the last two equations equal
to each other we obtain
2
2
(Γlij )k + Γpij Γlpk − lij lkl = (Γlik )j + Γpik Γlpj − lik ljl ,
p=1 p=1
2
2
Γlij llk + (lij )k = Γlik llj + (lik )j .
l=1 l=1
3
These equations may be rewritten as
2
(Γlik )j − (Γlij )k + Γpik Γlpj − Γpij Γlpk = lik ljl − lij lkl , (Gauss)
p=1
2
Γlik llj − Γlij llk = (lij )k − (lik )j , (Codazzi-Mainardi)
l=1
and are known as the Gauss’s equations and the Codazzi-Mainardi equations
respectively. If we define the Riemann curvature tensor as
2
l
Rijk := (Γlik )j − (Γlij )k + Γpik Γlpj − Γpij Γlpk ,
p=1
So it follows that
1 2
R121 g12 + R121 g22
K= ,
det(gij )
which shows that K is intrinsic and gives another proof of Gauss’s Theorema
Egregium.
Exercise 4. Show that if M = R2 , hen Rijk
l
= 0 for all 1 ≤ i, l, j, k ≤ 2
both intrinsically and extrinsically.
l
Exercise 5. Show that (i) Rijk = −Rikj
l l
, hence Rijj l
= 0, and (ii) Rijk +
Rjki + Rkij ≡ 0.
l l
4
2.8 Fundamental Theorem of Surfaces
In the previous section we showed that if gij and lij are the coefficients of the
first and second fundamental form of a patch X : U → M , then they must
satisfy the Gauss and Codazzi-Maindardi equations. These conditions turn
out to be not only necessary but also sufficient in the following sense.