parameterization

Unpacking the fundamental theorem of multivector calculus in two dimensions

January 18, 2021 math and physics play No comments , , , , , , , , , , , , , , , , , , ,

Notes.

Due to limitations in the MathJax-Latex package, all the oriented integrals in this blog post should be interpreted as having a clockwise orientation. [See the PDF version of this post for more sophisticated formatting.]

Guts.

Given a two dimensional generating vector space, there are two instances of the fundamental theorem for multivector integration
\begin{equation}\label{eqn:unpackingFundamentalTheorem:20}
\int_S F d\Bx \lrpartial G = \evalbar{F G}{\Delta S},
\end{equation}
and
\begin{equation}\label{eqn:unpackingFundamentalTheorem:40}
\int_S F d^2\Bx \lrpartial G = \oint_{\partial S} F d\Bx G.
\end{equation}
The first case is trivial. Given a parameterizated curve \( x = x(u) \), it just states
\begin{equation}\label{eqn:unpackingFundamentalTheorem:60}
\int_{u(0)}^{u(1)} du \PD{u}{}\lr{FG} = F(u(1))G(u(1)) – F(u(0))G(u(0)),
\end{equation}
for all multivectors \( F, G\), regardless of the signature of the underlying space.

The surface integral is more interesting. Let’s first look at the area element for this surface integral, which is
\begin{equation}\label{eqn:unpackingFundamentalTheorem:80}
d^2 \Bx = d\Bx_u \wedge d \Bx_v.
\end{equation}
Geometrically, this has the area of the parallelogram spanned by \( d\Bx_u \) and \( d\Bx_v \), but weighted by the pseudoscalar of the space. This is explored algebraically in the following problem and illustrated in fig. 1.

fig. 1. 2D vector space and area element.

Problem: Expansion of 2D area bivector.

Let \( \setlr{e_1, e_2} \) be an orthonormal basis for a two dimensional space, with reciprocal frame \( \setlr{e^1, e^2} \). Expand the area bivector \( d^2 \Bx \) in coordinates relating the bivector to the Jacobian and the pseudoscalar.

Answer

With parameterization \( x = x(u,v) = x^\alpha e_\alpha = x_\alpha e^\alpha \), we have
\begin{equation}\label{eqn:unpackingFundamentalTheorem:120}
\Bx_u \wedge \Bx_v
=
\lr{ \PD{u}{x^\alpha} e_\alpha } \wedge
\lr{ \PD{v}{x^\beta} e_\beta }
=
\PD{u}{x^\alpha}
\PD{v}{x^\beta}
e_\alpha
e_\beta
=
\PD{(u,v)}{(x^1,x^2)} e_1 e_2,
\end{equation}
or
\begin{equation}\label{eqn:unpackingFundamentalTheorem:160}
\Bx_u \wedge \Bx_v
=
\lr{ \PD{u}{x_\alpha} e^\alpha } \wedge
\lr{ \PD{v}{x_\beta} e^\beta }
=
\PD{u}{x_\alpha}
\PD{v}{x_\beta}
e^\alpha
e^\beta
=
\PD{(u,v)}{(x_1,x_2)} e^1 e^2.
\end{equation}
The upper and lower index pseudoscalars are related by
\begin{equation}\label{eqn:unpackingFundamentalTheorem:180}
e^1 e^2 e_1 e_2 =
-e^1 e^2 e_2 e_1 =
-1,
\end{equation}
so with \( I = e_1 e_2 \),
\begin{equation}\label{eqn:unpackingFundamentalTheorem:200}
e^1 e^2 = -I^{-1},
\end{equation}
leaving us with
\begin{equation}\label{eqn:unpackingFundamentalTheorem:140}
d^2 \Bx
= \PD{(u,v)}{(x^1,x^2)} du dv\, I
= -\PD{(u,v)}{(x_1,x_2)} du dv\, I^{-1}.
\end{equation}
We see that the area bivector is proportional to either the upper or lower index Jacobian and to the pseudoscalar for the space.

We may write the fundamental theorem for a 2D space as
\begin{equation}\label{eqn:unpackingFundamentalTheorem:680}
\int_S du dv \, \PD{(u,v)}{(x^1,x^2)} F I \lrgrad G = \oint_{\partial S} F d\Bx G,
\end{equation}
where we have dispensed with the vector derivative and use the gradient instead, since they are identical in a two parameter two dimensional space. Of course, unless we are using \( x^1, x^2 \) as our parameterization, we still want the curvilinear representation of the gradient \( \grad = \Bx^u \PDi{u}{} + \Bx^v \PDi{v}{} \).

Problem: Standard basis expansion of fundamental surface relation.

For a parameterization \( x = x^1 e_1 + x^2 e_2 \), where \( \setlr{ e_1, e_2 } \) is a standard (orthogonal) basis, expand the fundamental theorem for surface integrals for the single sided \( F = 1 \) case. Consider functions \( G \) of each grade (scalar, vector, bivector.)

Answer

From \ref{eqn:unpackingFundamentalTheorem:140} we see that the fundamental theorem takes the form
\begin{equation}\label{eqn:unpackingFundamentalTheorem:220}
\int_S dx^1 dx^2\, F I \lrgrad G = \oint_{\partial S} F d\Bx G.
\end{equation}
In a Euclidean space, the operator \( I \lrgrad \), is a \( \pi/2 \) rotation of the gradient, but has a rotated like structure in all metrics:
\begin{equation}\label{eqn:unpackingFundamentalTheorem:240}
I \grad
=
e_1 e_2 \lr{ e^1 \partial_1 + e^2 \partial_2 }
=
-e_2 \partial_1 + e_1 \partial_2.
\end{equation}

  • \( F = 1 \) and \( G \in \bigwedge^0 \) or \( G \in \bigwedge^2 \). For \( F = 1 \) and scalar or bivector \( G \) we have
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:260}
    \int_S dx^1 dx^2\, \lr{ -e_2 \partial_1 + e_1 \partial_2 } G = \oint_{\partial S} d\Bx G,
    \end{equation}
    where, for \( x^1 \in [x^1(0),x^1(1)] \) and \( x^2 \in [x^2(0),x^2(1)] \), the RHS written explicitly is
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:280}
    \oint_{\partial S} d\Bx G
    =
    \int dx^1 e_1
    \lr{ G(x^1, x^2(1)) – G(x^1, x^2(0)) }
    – dx^2 e_2
    \lr{ G(x^1(1),x^2) – G(x^1(0), x^2) }.
    \end{equation}
    This is sketched in fig. 2. Since a 2D bivector \( G \) can be written as \( G = I g \), where \( g \) is a scalar, we may write the pseudoscalar case as
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:300}
    \int_S dx^1 dx^2\, \lr{ -e_2 \partial_1 + e_1 \partial_2 } g = \oint_{\partial S} d\Bx g,
    \end{equation}
    after right multiplying both sides with \( I^{-1} \). Algebraically the scalar and pseudoscalar cases can be thought of as identical scalar relationships.
  • \( F = 1, G \in \bigwedge^1 \). For \( F = 1 \) and vector \( G \) the 2D fundamental theorem for surfaces can be split into scalar
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:320}
    \int_S dx^1 dx^2\, \lr{ -e_2 \partial_1 + e_1 \partial_2 } \cdot G = \oint_{\partial S} d\Bx \cdot G,
    \end{equation}
    and bivector relations
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:340}
    \int_S dx^1 dx^2\, \lr{ -e_2 \partial_1 + e_1 \partial_2 } \wedge G = \oint_{\partial S} d\Bx \wedge G.
    \end{equation}
    To expand \ref{eqn:unpackingFundamentalTheorem:320}, let
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:360}
    G = g_1 e^1 + g_2 e^2,
    \end{equation}
    for which
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:380}
    \lr{ -e_2 \partial_1 + e_1 \partial_2 } \cdot G
    =
    \lr{ -e_2 \partial_1 + e_1 \partial_2 } \cdot
    \lr{ g_1 e^1 + g_2 e^2 }
    =
    \partial_2 g_1 – \partial_1 g_2,
    \end{equation}
    and
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:400}
    d\Bx \cdot G
    =
    \lr{ dx^1 e_1 – dx^2 e_2 } \cdot \lr{ g_1 e^1 + g_2 e^2 }
    =
    dx^1 g_1 – dx^2 g_2,
    \end{equation}
    so \ref{eqn:unpackingFundamentalTheorem:320} expands to
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:500}
    \int_S dx^1 dx^2\, \lr{ \partial_2 g_1 – \partial_1 g_2 }
    =
    \int
    \evalbar{dx^1 g_1}{\Delta x^2} – \evalbar{ dx^2 g_2 }{\Delta x^1}.
    \end{equation}
    This coordinate expansion illustrates how the pseudoscalar nature of the area element results in a duality transformation, as we end up with a curl like operation on the LHS, despite the dot product nature of the decomposition that we used. That can also be seen directly for vector \( G \), since
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:560}
    dA (I \grad) \cdot G
    =
    dA \gpgradezero{ I \grad G }
    =
    dA I \lr{ \grad \wedge G },
    \end{equation}
    since the scalar selection of \( I \lr{ \grad \cdot G } \) is zero.In the grade-2 relation \ref{eqn:unpackingFundamentalTheorem:340}, we expect a pseudoscalar cancellation on both sides, leaving a scalar (divergence-like) relationship. This time, we use upper index coordinates for the vector \( G \), letting
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:440}
    G = g^1 e_1 + g^2 e_2,
    \end{equation}
    so
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:460}
    \lr{ -e_2 \partial_1 + e_1 \partial_2 } \wedge G
    =
    \lr{ -e_2 \partial_1 + e_1 \partial_2 } \wedge G
    \lr{ g^1 e_1 + g^2 e_2 }
    =
    e_1 e_2 \lr{ \partial_1 g^1 + \partial_2 g^2 },
    \end{equation}
    and
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:480}
    d\Bx \wedge G
    =
    \lr{ dx^1 e_1 – dx^2 e_2 } \wedge
    \lr{ g^1 e_1 + g^2 e_2 }
    =
    e_1 e_2 \lr{ dx^1 g^2 + dx^2 g^1 }.
    \end{equation}
    So \ref{eqn:unpackingFundamentalTheorem:340}, after multiplication of both sides by \( I^{-1} \), is
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:520}
    \int_S dx^1 dx^2\,
    \lr{ \partial_1 g^1 + \partial_2 g^2 }
    =
    \int
    \evalbar{dx^1 g^2}{\Delta x^2} + \evalbar{dx^2 g^1 }{\Delta x^1}.
    \end{equation}

As before, we’ve implicitly performed a duality transformation, and end up with a divergence operation. That can be seen directly without coordinate expansion, by rewriting the wedge as a grade two selection, and expanding the gradient action on the vector \( G \), as follows
\begin{equation}\label{eqn:unpackingFundamentalTheorem:580}
dA (I \grad) \wedge G
=
dA \gpgradetwo{ I \grad G }
=
dA I \lr{ \grad \cdot G },
\end{equation}
since \( I \lr{ \grad \wedge G } \) has only a scalar component.

 

fig. 2. Line integral around rectangular boundary.

Theorem 1.1: Green’s theorem [1].

Let \( S \) be a Jordan region with a piecewise-smooth boundary \( C \). If \( P, Q \) are continuously differentiable on an open set that contains \( S \), then
\begin{equation*}
\int dx dy \lr{ \PD{y}{P} – \PD{x}{Q} } = \oint P dx + Q dy.
\end{equation*}

Problem: Relationship to Green’s theorem.

If the space is Euclidean, show that \ref{eqn:unpackingFundamentalTheorem:500} and \ref{eqn:unpackingFundamentalTheorem:520} are both instances of Green’s theorem with suitable choices of \( P \) and \( Q \).

Answer

I will omit the subtleties related to general regions and consider just the case of an infinitesimal square region.

Start proof:

Let’s start with \ref{eqn:unpackingFundamentalTheorem:500}, with \( g_1 = P \) and \( g_2 = Q \), and \( x^1 = x, x^2 = y \), the RHS is
\begin{equation}\label{eqn:unpackingFundamentalTheorem:600}
\int dx dy \lr{ \PD{y}{P} – \PD{x}{Q} }.
\end{equation}
On the RHS we have
\begin{equation}\label{eqn:unpackingFundamentalTheorem:620}
\int \evalbar{dx P}{\Delta y} – \evalbar{ dy Q }{\Delta x}
=
\int dx \lr{ P(x, y_1) – P(x, y_0) } – \int dy \lr{ Q(x_1, y) – Q(x_0, y) }.
\end{equation}
This pair of integrals is plotted in fig. 3, from which we see that \ref{eqn:unpackingFundamentalTheorem:620} can be expressed as the line integral, leaving us with
\begin{equation}\label{eqn:unpackingFundamentalTheorem:640}
\int dx dy \lr{ \PD{y}{P} – \PD{x}{Q} }
=
\oint dx P + dy Q,
\end{equation}
which is Green’s theorem over the infinitesimal square integration region.

For the equivalence of \ref{eqn:unpackingFundamentalTheorem:520} to Green’s theorem, let \( g^2 = P \), and \( g^1 = -Q \). Plugging into the LHS, we find the Green’s theorem integrand. On the RHS, the integrand expands to
\begin{equation}\label{eqn:unpackingFundamentalTheorem:660}
\evalbar{dx g^2}{\Delta y} + \evalbar{dy g^1 }{\Delta x}
=
dx \lr{ P(x,y_1) – P(x, y_0)}
+
dy \lr{ -Q(x_1, y) + Q(x_0, y)},
\end{equation}
which is exactly what we found in \ref{eqn:unpackingFundamentalTheorem:620}.

End proof.

 

fig. 3. Path for Green’s theorem.

We may also relate multivector gradient integrals in 2D to the normal integral around the boundary of the bounding curve. That relationship is as follows.

Theorem 1.2: 2D gradient integrals.

\begin{equation*}
\begin{aligned}
\int J du dv \rgrad G &= \oint I^{-1} d\Bx G = \int J \lr{ \Bx^v du + \Bx^u dv } G \\
\int J du dv F \lgrad &= \oint F I^{-1} d\Bx = \int J F \lr{ \Bx^v du + \Bx^u dv },
\end{aligned}
\end{equation*}
where \( J = \partial(x^1, x^2)/\partial(u,v) \) is the Jacobian of the parameterization \( x = x(u,v) \). In terms of the coordinates \( x^1, x^2 \), this reduces to
\begin{equation*}
\begin{aligned}
\int dx^1 dx^2 \rgrad G &= \oint I^{-1} d\Bx G = \int \lr{ e^2 dx^1 + e^1 dx^2 } G \\
\int dx^1 dx^2 F \lgrad &= \oint G I^{-1} d\Bx = \int F \lr{ e^2 dx^1 + e^1 dx^2 }.
\end{aligned}
\end{equation*}
The vector \( I^{-1} d\Bx \) is orthogonal to the tangent vector along the boundary, and for Euclidean spaces it can be identified as the outwards normal.

Start proof:

Respectively setting \( F = 1 \), and \( G = 1\) in \ref{eqn:unpackingFundamentalTheorem:680}, we have
\begin{equation}\label{eqn:unpackingFundamentalTheorem:940}
\int I^{-1} d^2 \Bx \rgrad G = \oint I^{-1} d\Bx G,
\end{equation}
and
\begin{equation}\label{eqn:unpackingFundamentalTheorem:960}
\int F d^2 \Bx \lgrad I^{-1} = \oint F d\Bx I^{-1}.
\end{equation}
Starting with \ref{eqn:unpackingFundamentalTheorem:940} we find
\begin{equation}\label{eqn:unpackingFundamentalTheorem:700}
\int I^{-1} J du dv I \rgrad G = \oint d\Bx G,
\end{equation}
to find \( \int dx^1 dx^2 \rgrad G = \oint I^{-1} d\Bx G \), as desireed. In terms of a parameterization \( x = x(u,v) \), the pseudoscalar for the space is
\begin{equation}\label{eqn:unpackingFundamentalTheorem:720}
I = \frac{\Bx_u \wedge \Bx_v}{J},
\end{equation}
so
\begin{equation}\label{eqn:unpackingFundamentalTheorem:740}
I^{-1} = \frac{J}{\Bx_u \wedge \Bx_v}.
\end{equation}
Also note that \( \lr{\Bx_u \wedge \Bx_v}^{-1} = \Bx^v \wedge \Bx^u \), so
\begin{equation}\label{eqn:unpackingFundamentalTheorem:760}
I^{-1} = J \lr{ \Bx^v \wedge \Bx^u },
\end{equation}
and
\begin{equation}\label{eqn:unpackingFundamentalTheorem:780}
I^{-1} d\Bx
= I^{-1} \cdot d\Bx
= J \lr{ \Bx^v \wedge \Bx^u } \cdot \lr{ \Bx_u du – \Bx_v dv }
= J \lr{ \Bx^v du + \Bx^u dv },
\end{equation}
so the right acting gradient integral is
\begin{equation}\label{eqn:unpackingFundamentalTheorem:800}
\int J du dv \grad G =
\int
\evalbar{J \Bx^v G}{\Delta v} du + \evalbar{J \Bx^u G dv}{\Delta u},
\end{equation}
which we write in abbreviated form as \( \int J \lr{ \Bx^v du + \Bx^u dv} G \).

For the \( G = 1 \) case, from \ref{eqn:unpackingFundamentalTheorem:960} we find
\begin{equation}\label{eqn:unpackingFundamentalTheorem:820}
\int J du dv F I \lgrad I^{-1} = \oint F d\Bx I^{-1}.
\end{equation}
However, in a 2D space, regardless of metric, we have \( I a = – a I \) for any vector \( a \) (i.e. \( \grad \) or \( d\Bx\)), so we may commute the outer pseudoscalars in
\begin{equation}\label{eqn:unpackingFundamentalTheorem:840}
\int J du dv F I \lgrad I^{-1} = \oint F d\Bx I^{-1},
\end{equation}
so
\begin{equation}\label{eqn:unpackingFundamentalTheorem:850}
-\int J du dv F I I^{-1} \lgrad = -\oint F I^{-1} d\Bx.
\end{equation}
After cancelling the negative sign on both sides, we have the claimed result.

To see that \( I a \), for any vector \( a \) is normal to \( a \), we can compute the dot product
\begin{equation}\label{eqn:unpackingFundamentalTheorem:860}
\lr{ I a } \cdot a
=
\gpgradezero{ I a a }
=
a^2 \gpgradezero{ I }
= 0,
\end{equation}
since the scalar selection of a bivector is zero. Since \( I^{-1} = \pm I \), the same argument shows that \( I^{-1} d\Bx \) must be orthogonal to \( d\Bx \).

End proof.

Let’s look at the geometry of the normal \( I^{-1} \Bx \) in a couple 2D vector spaces. We use an integration volume of a unit square to simplify the boundary term expressions.

  • Euclidean: With a parameterization \( x(u,v) = u\Be_1 + v \Be_2 \), and Euclidean basis vectors \( (\Be_1)^2 = (\Be_2)^2 = 1 \), the fundamental theorem integrated over the rectangle \( [x_0,x_1] \times [y_0,y_1] \) is
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:880}
    \int dx dy \grad G =
    \int
    \Be_2 \lr{ G(x,y_1) – G(x,y_0) } dx +
    \Be_1 \lr{ G(x_1,y) – G(x_0,y) } dy,
    \end{equation}
    Each of the terms in the integrand above are illustrated in fig. 4, and we see that this is a path integral weighted by the outwards normal.

    fig. 4. Outwards oriented normal for Euclidean space.

  • Spacetime: Let \( x(u,v) = u \gamma_0 + v \gamma_1 \), where \( (\gamma_0)^2 = -(\gamma_1)^2 = 1 \). With \( u = t, v = x \), the gradient integral over a \([t_0,t_1] \times [x_0,x_1]\) of spacetime is
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:900}
    \begin{aligned}
    \int dt dx \grad G
    &=
    \int
    \gamma^1 dt \lr{ G(t, x_1) – G(t, x_0) }
    +
    \gamma^0 dx \lr{ G(t_1, x) – G(t_1, x) } \\
    &=
    \int
    \gamma_1 dt \lr{ -G(t, x_1) + G(t, x_0) }
    +
    \gamma_0 dx \lr{ G(t_1, x) – G(t_1, x) }
    .
    \end{aligned}
    \end{equation}
    With \( t \) plotted along the horizontal axis, and \( x \) along the vertical, each of the terms of this integrand is illustrated graphically in fig. 5. For this mixed signature space, there is no longer any good geometrical characterization of the normal.

    fig. 5. Orientation of the boundary normal for a spacetime basis.

  • Spacelike:
    Let \( x(u,v) = u \gamma_1 + v \gamma_2 \), where \( (\gamma_1)^2 = (\gamma_2)^2 = -1 \). With \( u = x, v = y \), the gradient integral over a \([x_0,x_1] \times [y_0,y_1]\) of this space is
    \begin{equation}\label{eqn:unpackingFundamentalTheorem:920}
    \begin{aligned}
    \int dx dy \grad G
    &=
    \int
    \gamma^2 dx \lr{ G(x, y_1) – G(x, y_0) }
    +
    \gamma^1 dy \lr{ G(x_1, y) – G(x_1, y) } \\
    &=
    \int
    \gamma_2 dx \lr{ -G(x, y_1) + G(x, y_0) }
    +
    \gamma_1 dy \lr{ -G(x_1, y) + G(x_1, y) }
    .
    \end{aligned}
    \end{equation}
    Referring to fig. 6. where the elements of the integrand are illustrated, we see that the normal \( I^{-1} d\Bx \) for the boundary of this region can be characterized as inwards.

    fig. 6. Inwards oriented normal for a Dirac spacelike basis.

References

[1] S.L. Salas and E. Hille. Calculus: one and several variables. Wiley New York, 1990.

Fundamental theorem of geometric calculus for line integrals (relativistic.)

December 16, 2020 math and physics play 1 comment , , , , , , , , , , , , , , , , , , , , , , , , , , ,

[This post is best viewed in PDF form, due to latex elements that I could not format with wordpress mathjax.]

Background for this particular post can be found in

  1. Curvilinear coordinates and gradient in spacetime, and reciprocal frames, and
  2. Lorentz transformations in Space Time Algebra (STA)
  3. A couple more reciprocal frame examples.

Motivation.

I’ve been slowly working my way towards a statement of the fundamental theorem of integral calculus, where the functions being integrated are elements of the Dirac algebra (space time multivectors in the geometric algebra parlance.)

This is interesting because we want to be able to do line, surface, 3-volume and 4-volume space time integrals. We have many \(\mathbb{R}^3\) integral theorems
\begin{equation}\label{eqn:fundamentalTheoremOfGC:40a}
\int_A^B d\Bl \cdot \spacegrad f = f(B) – f(A),
\end{equation}
\begin{equation}\label{eqn:fundamentalTheoremOfGC:60a}
\int_S dA\, \ncap \cross \spacegrad f = \int_{\partial S} d\Bx\, f,
\end{equation}
\begin{equation}\label{eqn:fundamentalTheoremOfGC:80a}
\int_S dA\, \ncap \cdot \lr{ \spacegrad \cross \Bf} = \int_{\partial S} d\Bx \cdot \Bf,
\end{equation}
\begin{equation}\label{eqn:fundamentalTheoremOfGC:100a}
\int_S dx dy \lr{ \PD{y}{P} – \PD{x}{Q} }
=
\int_{\partial S} P dx + Q dy,
\end{equation}
\begin{equation}\label{eqn:fundamentalTheoremOfGC:120a}
\int_V dV\, \spacegrad f = \int_{\partial V} dA\, \ncap f,
\end{equation}
\begin{equation}\label{eqn:fundamentalTheoremOfGC:140a}
\int_V dV\, \spacegrad \cross \Bf = \int_{\partial V} dA\, \ncap \cross \Bf,
\end{equation}
\begin{equation}\label{eqn:fundamentalTheoremOfGC:160a}
\int_V dV\, \spacegrad \cdot \Bf = \int_{\partial V} dA\, \ncap \cdot \Bf,
\end{equation}
and want to know how to generalize these to four dimensions and also make sure that we are handling the relativistic mixed signature correctly. If our starting point was the mess of equations above, we’d be in trouble, since it is not obvious how these generalize. All the theorems with unit normals have to be handled completely differently in four dimensions since we don’t have a unique normal to any given spacetime plane.
What comes to our rescue is the Fundamental Theorem of Geometric Calculus (FTGC), which has the form
\begin{equation}\label{eqn:fundamentalTheoremOfGC:40}
\int F d^n \Bx\, \lrpartial G = \int F d^{n-1} \Bx\, G,
\end{equation}
where \(F,G\) are multivectors functions (i.e. sums of products of vectors.) We’ve seen ([2], [1]) that all the identities above are special cases of the fundamental theorem.

Do we need any special care to state the FTGC correctly for our relativistic case? It turns out that the answer is no! Tangent and reciprocal frame vectors do all the heavy lifting, and we can use the fundamental theorem as is, even in our mixed signature space. The only real change that we need to make is use spacetime gradient and vector derivative operators instead of their spatial equivalents. We will see how this works below. Note that instead of starting with \ref{eqn:fundamentalTheoremOfGC:40} directly, I will attempt to build up to that point in a progressive fashion that is hopefully does not require the reader to make too many unjustified mental leaps.

Multivector line integrals.

We want to define multivector line integrals to start with. Recall that in \(\mathbb{R}^3\) we would say that for scalar functions \( f\), the integral
\begin{equation}\label{eqn:fundamentalTheoremOfGC:180b}
\int d\Bx\, f = \int f d\Bx,
\end{equation}
is a line integral. Also, for vector functions \( \Bf \) we call
\begin{equation}\label{eqn:fundamentalTheoremOfGC:200}
\int d\Bx \cdot \Bf = \inv{2} \int d\Bx\, \Bf + \Bf d\Bx.
\end{equation}
a line integral. In order to generalize line integrals to multivector functions, we will allow our multivector functions to be placed on either or both sides of the differential.

Definition 1.1: Line integral.

Given a single variable parameterization \( x = x(u) \), we write \( d^1\Bx = \Bx_u du \), and call
\begin{equation}\label{eqn:fundamentalTheoremOfGC:220a}
\int F d^1\Bx\, G,
\end{equation}
a line integral, where \( F,G \) are arbitrary multivector functions.

We must be careful not to reorder any of the factors in the integrand, since the differential may not commute with either \( F \) or \( G \). Here is a simple example where the integrand has a product of a vector and differential.

Problem: Circular parameterization.

Given a circular parameterization \( x(\theta) = \gamma_1 e^{-i\theta} \), where \( i = \gamma_1 \gamma_2 \), the unit bivector for the \(x,y\) plane. Compute the line integral
\begin{equation}\label{eqn:fundamentalTheoremOfGC:100}
\int_0^{\pi/4} F(\theta)\, d^1 \Bx\, G(\theta),
\end{equation}
where \( F(\theta) = \Bx^\theta + \gamma_3 + \gamma_1 \gamma_0 \) is a multivector valued function, and \( G(\theta) = \gamma_0 \) is vector valued.

Answer

The tangent vector for the curve is
\begin{equation}\label{eqn:fundamentalTheoremOfGC:60}
\Bx_\theta
= -\gamma_1 \gamma_1 \gamma_2 e^{-i\theta}
= \gamma_2 e^{-i\theta},
\end{equation}
with reciprocal vector \( \Bx^\theta = e^{i \theta} \gamma^2 \). The differential element is \( d^1 \Bx = \gamma_2 e^{-i\theta} d\theta \), so the integrand is
\begin{equation}\label{eqn:fundamentalTheoremOfGC:80}
\begin{aligned}
\int_0^{\pi/4} \lr{ \Bx^\theta + \gamma_3 + \gamma_1 \gamma_0 } d^1 \Bx\, \gamma_0
&=
\int_0^{\pi/4} \lr{ e^{i\theta} \gamma^2 + \gamma_3 + \gamma_1 \gamma_0 } \gamma_2 e^{-i\theta} d\theta\, \gamma_0 \\
&=
\frac{\pi}{4} \gamma_0 + \lr{ \gamma_{32} + \gamma_{102} } \inv{-i} \lr{ e^{-i\pi/4} – 1 } \gamma_0 \\
&=
\frac{\pi}{4} \gamma_0 + \inv{\sqrt{2}} \lr{ \gamma_{32} + \gamma_{102} } \gamma_{120} \lr{ 1 – \gamma_{12} } \\
&=
\frac{\pi}{4} \gamma_0 + \inv{\sqrt{2}} \lr{ \gamma_{310} + 1 } \lr{ 1 – \gamma_{12} }.
\end{aligned}
\end{equation}
Observe how care is required not to reorder any terms. This particular end result is a multivector with scalar, vector, bivector, and trivector grades, but no pseudoscalar component. The grades in the end result depend on both the function in the integrand and on the path. For example, had we integrated all the way around the circle, the end result would have been the vector \( 2 \pi \gamma_0 \) (i.e. a \( \gamma_0 \) weighted unit circle circumference), as all the other grades would have been killed by the complex exponential integrated over a full period.

Problem: Line integral for boosted time direction vector.

Let \( x = e^{\vcap \alpha/2} \gamma_0 e^{-\vcap \alpha/2} \) represent the spacetime curve of all the boosts of \( \gamma_0 \) along a specific velocity direction vector, where \( \vcap = (v \wedge \gamma_0)/\Norm{v \wedge \gamma_0} \) is a unit spatial bivector for any constant vector \( v \). Compute the line integral
\begin{equation}\label{eqn:fundamentalTheoremOfGC:240}
\int x\, d^1 \Bx.
\end{equation}

Answer

Observe that \( \vcap \) and \( \gamma_0 \) anticommute, so we may write our boost as a one sided exponential
\begin{equation}\label{eqn:fundamentalTheoremOfGC:260}
x(\alpha) = \gamma_0 e^{-\vcap \alpha} = e^{\vcap \alpha} \gamma_0 = \lr{ \cosh\alpha + \vcap \sinh\alpha } \gamma_0.
\end{equation}
The tangent vector is just
\begin{equation}\label{eqn:fundamentalTheoremOfGC:280}
\Bx_\alpha = \PD{\alpha}{x} = e^{\vcap\alpha} \vcap \gamma_0.
\end{equation}
Let’s get a bit of intuition about the nature of this vector. It’s square is
\begin{equation}\label{eqn:fundamentalTheoremOfGC:300}
\begin{aligned}
\Bx_\alpha^2
&=
e^{\vcap\alpha} \vcap \gamma_0
e^{\vcap\alpha} \vcap \gamma_0 \\
&=
-e^{\vcap\alpha} \vcap e^{-\vcap\alpha} \vcap (\gamma_0)^2 \\
&=
-1,
\end{aligned}
\end{equation}
so we see that the tangent vector is a spacelike unit vector. As the vector representing points on the curve is necessarily timelike (due to Lorentz invariance), these two must be orthogonal at all points. Let’s confirm this algebraically
\begin{equation}\label{eqn:fundamentalTheoremOfGC:320}
\begin{aligned}
x \cdot \Bx_\alpha
&=
\gpgradezero{ e^{\vcap \alpha} \gamma_0 e^{\vcap \alpha} \vcap \gamma_0 } \\
&=
\gpgradezero{ e^{-\vcap \alpha} e^{\vcap \alpha} \vcap (\gamma_0)^2 } \\
&=
\gpgradezero{ \vcap } \\
&= 0.
\end{aligned}
\end{equation}
Here we used \( e^{\vcap \alpha} \gamma_0 = \gamma_0 e^{-\vcap \alpha} \), and \( \gpgradezero{A B} = \gpgradezero{B A} \). Geometrically, we have the curious fact that the direction vectors to points on the curve are perpendicular (with respect to our relativistic dot product) to the tangent vectors on the curve, as illustrated in fig. 1.

fig. 1. Tangent perpendicularity in mixed metric.

Perfect differentials.

Having seen a couple examples of multivector line integrals, let’s now move on to figure out the structure of a line integral that has a “perfect” differential integrand. We can take a hint from the \(\mathbb{R}^3\) vector result that we already know, namely
\begin{equation}\label{eqn:fundamentalTheoremOfGC:120}
\int_A^B d\Bl \cdot \spacegrad f = f(B) – f(A).
\end{equation}
It seems reasonable to guess that the relativistic generalization of this is
\begin{equation}\label{eqn:fundamentalTheoremOfGC:140}
\int_A^B dx \cdot \grad f = f(B) – f(A).
\end{equation}
Let’s check that, by expanding in coordinates
\begin{equation}\label{eqn:fundamentalTheoremOfGC:160}
\begin{aligned}
\int_A^B dx \cdot \grad f
&=
\int_A^B d\tau \frac{dx^\mu}{d\tau} \partial_\mu f \\
&=
\int_A^B d\tau \frac{dx^\mu}{d\tau} \PD{x^\mu}{f} \\
&=
\int_A^B d\tau \frac{df}{d\tau} \\
&=
f(B) – f(A).
\end{aligned}
\end{equation}
If we drop the dot product, will we have such a nice result? Let’s see:
\begin{equation}\label{eqn:fundamentalTheoremOfGC:180}
\begin{aligned}
\int_A^B dx \grad f
&=
\int_A^B d\tau \frac{dx^\mu}{d\tau} \gamma_\mu \gamma^\nu \partial_\nu f \\
&=
\int_A^B d\tau \frac{dx^\mu}{d\tau} \PD{x^\mu}{f}
+
\int_A^B
d\tau
\sum_{\mu \ne \nu} \gamma_\mu \gamma^\nu
\frac{dx^\mu}{d\tau} \PD{x^\nu}{f}.
\end{aligned}
\end{equation}
This scalar component of this integrand is a perfect differential, but the bivector part of the integrand is a complete mess, that we have no hope of generally integrating. It happens that if we consider one of the simplest parameterization examples, we can get a strong hint of how to generalize the differential operator to one that ends up providing a perfect differential. In particular, let’s integrate over a linear constant path, such as \( x(\tau) = \tau \gamma_0 \). For this path, we have
\begin{equation}\label{eqn:fundamentalTheoremOfGC:200a}
\begin{aligned}
\int_A^B dx \grad f
&=
\int_A^B \gamma_0 d\tau \lr{
\gamma^0 \partial_0 +
\gamma^1 \partial_1 +
\gamma^2 \partial_2 +
\gamma^3 \partial_3 } f \\
&=
\int_A^B d\tau \lr{
\PD{\tau}{f} +
\gamma_0 \gamma^1 \PD{x^1}{f} +
\gamma_0 \gamma^2 \PD{x^2}{f} +
\gamma_0 \gamma^3 \PD{x^3}{f}
}.
\end{aligned}
\end{equation}
Just because the path does not have any \( x^1, x^2, x^3 \) component dependencies does not mean that these last three partials are neccessarily zero. For example \( f = f(x(\tau)) = \lr{ x^0 }^2 \gamma_0 + x^1 \gamma_1 \) will have a non-zero contribution from the \( \partial_1 \) operator. In that particular case, we can easily integrate \( f \), but we have to know the specifics of the function to do the integral. However, if we had a differential operator that did not include any component off the integration path, we would ahve a perfect differential. That is, if we were to replace the gradient with the projection of the gradient onto the tangent space, we would have a perfect differential. We see that the function of the dot product in \ref{eqn:fundamentalTheoremOfGC:140} has the same effect, as it rejects any component of the gradient that does not lie on the tangent space.

Definition 1.2: Vector derivative.

Given a spacetime manifold parameterized by \( x = x(u^0, \cdots u^{N-1}) \), with tangent vectors \( \Bx_\mu = \PDi{u^\mu}{x} \), and reciprocal vectors \( \Bx^\mu \in \textrm{Span}\setlr{\Bx_\nu} \), such that \( \Bx^\mu \cdot \Bx_\nu = {\delta^\mu}_\nu \), the vector derivative is defined as
\begin{equation}\label{eqn:fundamentalTheoremOfGC:240a}
\partial = \sum_{\mu = 0}^{N-1} \Bx^\mu \PD{u^\mu}{}.
\end{equation}
Observe that if this is a full parameterization of the space (\(N = 4\)), then the vector derivative is identical to the gradient. The vector derivative is the projection of the gradient onto the tangent space at the point of evaluation.Furthermore, we designate \( \lrpartial \) as the vector derivative allowed to act bidirectionally, as follows
\begin{equation}\label{eqn:fundamentalTheoremOfGC:260a}
R \lrpartial S
=
R \Bx^\mu \PD{u^\mu}{S}
+
\PD{u^\mu}{R} \Bx^\mu S,
\end{equation}
where \( R, S \) are multivectors, and summation convention is implied. In this bidirectional action,
the vector factors of the vector derivative must stay in place (as they do not neccessarily commute with \( R,S\)), but the derivative operators apply in a chain rule like fashion to both functions.

Noting that \( \Bx_u \cdot \grad = \Bx_u \cdot \partial \), we may rewrite the scalar line integral identity \ref{eqn:fundamentalTheoremOfGC:140} as
\begin{equation}\label{eqn:fundamentalTheoremOfGC:220}
\int_A^B dx \cdot \partial f = f(B) – f(A).
\end{equation}
However, as our example hinted at, the fundamental theorem for line integrals has a multivector generalization that does not rely on a dot product to do the tangent space filtering, and is more powerful. That generalization has the following form.

Theorem 1.1: Fundamental theorem for line integrals.

Given multivector functions \( F, G \), and a single parameter curve \( x(u) \) with line element \( d^1 \Bx = \Bx_u du \), then
\begin{equation}\label{eqn:fundamentalTheoremOfGC:280a}
\int_A^B F d^1\Bx \lrpartial G = F(B) G(B) – F(A) G(A).
\end{equation}

Start proof:

Writing out the integrand explicitly, we find
\begin{equation}\label{eqn:fundamentalTheoremOfGC:340}
\int_A^B F d^1\Bx \lrpartial G
=
\int_A^B \lr{
\PD{\alpha}{F} d\alpha\, \Bx_\alpha \Bx^\alpha G
+
F d\alpha\, \Bx_\alpha \Bx^\alpha \PD{\alpha}{G }
}
\end{equation}
However for a single parameter curve, we have \( \Bx^\alpha = 1/\Bx_\alpha \), so we are left with
\begin{equation}\label{eqn:fundamentalTheoremOfGC:360}
\begin{aligned}
\int_A^B F d^1\Bx \lrpartial G
&=
\int_A^B d\alpha\, \PD{\alpha}{(F G)} \\
&=
\evalbar{F G}{B}

\evalbar{F G}{A}.
\end{aligned}
\end{equation}

End proof.

More to come.

In the next installment we will explore surface integrals in spacetime, and the generalization of the fundamental theorem to multivector space time integrals.

References

[1] Peeter Joot. Geometric Algebra for Electrical Engineers. Kindle Direct Publishing, 2019.

[2] A. Macdonald. Vector and Geometric Calculus. CreateSpace Independent Publishing Platform, 2012.

A couple more reciprocal frame examples.

December 14, 2020 math and physics play No comments , , , , , , , , , , , , ,

[If mathjax doesn’t display properly for you, click here for a PDF of this post]

This post logically follows both of the following:

  1. Curvilinear coordinates and gradient in spacetime, and reciprocal frames, and
  2. Lorentz transformations in Space Time Algebra (STA)

The PDF linked above above contains all the content from this post plus (1.) above [to be edited later into a more logical sequence.]

More examples.

Here are a few additional examples of reciprocal frame calculations.

Problem: Unidirectional arbitrary functional dependence.

Let
\begin{equation}\label{eqn:reciprocal:2540}
x = a f(u),
\end{equation}
where \( a \) is a constant vector and \( f(u)\) is some arbitrary differentiable function with a non-zero derivative in the region of interest.

Answer

Here we have just a single tangent space direction (a line in spacetime) with tangent vector
\begin{equation}\label{eqn:reciprocal:2400}
\Bx_u = a \PD{u}{f} = a f_u,
\end{equation}
so we see that the tangent space vectors are just rescaled values of the direction vector \( a \).
This is a simple enough parameterization that we can compute the reciprocal frame vector explicitly using the gradient. We expect that \( \Bx^u = 1/\Bx_u \), and find
\begin{equation}\label{eqn:reciprocal:2420}
\inv{a} \cdot x = f(u),
\end{equation}
but for constant \( a \), we know that \( \grad a \cdot x = a \), so taking gradients of both sides we find
\begin{equation}\label{eqn:reciprocal:2440}
\inv{a} = \grad f = \PD{u}{f} \grad u,
\end{equation}
so the reciprocal vector is
\begin{equation}\label{eqn:reciprocal:2460}
\Bx^u = \grad u = \inv{a f_u},
\end{equation}
as expected.

Problem: Linear two variable parameterization.

Let \( x = a u + b v \), where \( x \wedge a \wedge b = 0 \) represents spacetime plane (also the tangent space.) Find the curvilinear coordinates and their reciprocals.

Answer

The frame vectors are easy to compute, as they are just
\begin{equation}\label{eqn:reciprocal:1960}
\begin{aligned}
\Bx_u &= \PD{u}{x} = a \\
\Bx_v &= \PD{v}{x} = b.
\end{aligned}
\end{equation}
This is an example of a parametric equation that we can easily invert, as we have
\begin{equation}\label{eqn:reciprocal:1980}
\begin{aligned}
x \wedge a &= – v \lr{ a \wedge b } \\
x \wedge b &= u \lr{ a \wedge b },
\end{aligned}
\end{equation}
so
\begin{equation}\label{eqn:reciprocal:2000}
\begin{aligned}
u
&= \inv{ a \wedge b } \cdot \lr{ x \wedge b } \\
&= \inv{ \lr{a \wedge b}^2 } \lr{ a \wedge b } \cdot \lr{ x \wedge b } \\
&=
\frac{
\lr{b \cdot x} \lr{ a \cdot b }

\lr{a \cdot x} \lr{ b \cdot b }
}{ \lr{a \wedge b}^2 }
\end{aligned}
\end{equation}
\begin{equation}\label{eqn:reciprocal:2020}
\begin{aligned}
v &= -\inv{ a \wedge b } \cdot \lr{ x \wedge a } \\
&= -\inv{ \lr{a \wedge b}^2 } \lr{ a \wedge b } \cdot \lr{ x \wedge a } \\
&=
-\frac{
\lr{b \cdot x} \lr{ a \cdot a }

\lr{a \cdot x} \lr{ a \cdot b }
}{ \lr{a \wedge b}^2 }
\end{aligned}
\end{equation}
Recall that \( \grad \lr{ a \cdot x} = a \), if \( a \) is a constant, so our gradients are just
\begin{equation}\label{eqn:reciprocal:2040}
\begin{aligned}
\grad u
&=
\frac{
b \lr{ a \cdot b }

a
\lr{ b \cdot b }
}{ \lr{a \wedge b}^2 } \\
&=
b \cdot \inv{ a \wedge b },
\end{aligned}
\end{equation}
and
\begin{equation}\label{eqn:reciprocal:2060}
\begin{aligned}
\grad v
&=
-\frac{
b \lr{ a \cdot a }

a \lr{ a \cdot b }
}{ \lr{a \wedge b}^2 } \\
&=
-a \cdot \inv{ a \wedge b }.
\end{aligned}
\end{equation}
Expressed in terms of the frame vectors, this is just
\begin{equation}\label{eqn:reciprocal:2080}
\begin{aligned}
\Bx^u &= \Bx_v \cdot \inv{ \Bx_u \wedge \Bx_v } \\
\Bx^v &= -\Bx_u \cdot \inv{ \Bx_u \wedge \Bx_v },
\end{aligned}
\end{equation}
so we were able to show, for this special two parameter linear case, that the explicit evaluation of the gradients has the exact structure that we intuited that the reciprocals must have, provided they are constrained to the spacetime plane \( a \wedge b \). It is interesting to observe how this structure falls out of the linear system solution so directly. Also note that these reciprocals are not defined at the origin of the \( (u,v) \) parameter space.

Problem: Quadratic two variable parameterization.

Now consider a variation of the previous problem, with \( x = a u^2 + b v^2 \). Find the curvilinear coordinates and their reciprocals.

Answer

\begin{equation}\label{eqn:reciprocal:2100}
\begin{aligned}
\Bx_u &= \PD{u}{x} = 2 u a \\
\Bx_v &= \PD{v}{x} = 2 v b.
\end{aligned}
\end{equation}
Our tangent space is still the \( a \wedge b \) plane (as is the surface itself), but the spacing of the cells starts getting wider in proportion to \( u, v \).
Utilizing the work from the previous problem, we have
\begin{equation}\label{eqn:reciprocal:2120}
\begin{aligned}
2 u \grad u &=
b \cdot \inv{ a \wedge b } \\
2 v \grad v &=
-a \cdot \inv{ a \wedge b }.
\end{aligned}
\end{equation}
A bit of rearrangement can show that this is equivalent to the reciprocal frame identities. This is a second demonstration that the gradient and the algebraic formulations for the reciprocals match, at least for these special cases of linear non-coupled parameterizations.

Problem: Reciprocal frame for generalized cylindrical parameterization.

Let the vector parameterization be \( x(\rho,\theta) = \rho e^{-i\theta/2} x(\rho_0, \theta_0) e^{i \theta} \), where \( i^2 = \pm 1 \) is a unit bivector (\(+1\) for a boost, and \(-1\) for a rotation), and where \(\theta, \rho\) are scalars. Find the tangent space vectors and their reciprocals.

fig. 1. “Cylindrical” boost parameterization.

Note that this is cylindrical parameterization for the rotation case, and traces out hyperbolic regions for the boost case. The boost case is illustrated in fig. 1 where hyperbolas in the light cone are found for boosts of \( \gamma_0\) with various values of \(\rho\), and the spacelike hyperbolas are boosts of \( \gamma_1 \), again for various values of \( \rho \).

Answer

The tangent space vectors are
\begin{equation}\label{eqn:reciprocal:2480}
\Bx_\rho = \frac{x}{\rho},
\end{equation}
and

\begin{equation}\label{eqn:reciprocal:2500}
\begin{aligned}
\Bx_\theta
&= -\frac{i}{2} x + x \frac{i}{2} \\
&= x \cdot i.
\end{aligned}
\end{equation}
Recall that \( x \cdot i \) lies perpendicular to \( x \) (in the plane \( i \)), as illustrated in fig. 2. This means that \( \Bx_\rho \) and \( \Bx_\theta \) are orthogonal, so we can find the reciprocal vectors by just inverting them
\begin{equation}\label{eqn:reciprocal:2520}
\begin{aligned}
\Bx^\rho &= \frac{\rho}{x} \\
\Bx^\theta &= \frac{1}{x \cdot i}.
\end{aligned}
\end{equation}

fig. 2. Projection and rejection geometry.

Parameterization of a general linear transformation.

Given \( N \) parameters \( u^0, u^1, \cdots u^{N-1} \), a general linear transformation from the parameter space to the vector space has the form
\begin{equation}\label{eqn:reciprocal:2160}
x =
{a^\alpha}_\beta \gamma_\alpha u^\beta,
\end{equation}
where \( \beta \in [0, \cdots, N-1] \) and \( \alpha \in [0,3] \).
For such a general transformation, observe that the curvilinear basis vectors are
\begin{equation}\label{eqn:reciprocal:2180}
\begin{aligned}
\Bx_\mu
&= \PD{u^\mu}{x} \\
&= \PD{u^\mu}{}
{a^\alpha}_\beta \gamma_\alpha u^\beta \\
&=
{a^\alpha}_\mu \gamma_\alpha.
\end{aligned}
\end{equation}
We find an interpretation of \( {a^\alpha}_\mu \) by dotting \( \Bx_\mu \) with the reciprocal frame vectors of the standard basis
\begin{equation}\label{eqn:reciprocal:2200}
\begin{aligned}
\Bx_\mu \cdot \gamma^\nu
&=
{a^\alpha}_\mu \lr{ \gamma_\alpha \cdot \gamma^\nu } \\
&=
{a^\nu}_\mu,
\end{aligned}
\end{equation}
so
\begin{equation}\label{eqn:reciprocal:2220}
x = \Bx_\mu u^\mu.
\end{equation}
We are able to reinterpret \ref{eqn:reciprocal:2160} as a contraction of the tangent space vectors with the parameters, scaling and summing these direction vectors to characterize all the points in the tangent plane.

Theorem 1.1: Projecting onto the tangent space.

Let \( T \) represent the tangent space. The projection of a vector onto the tangent space has the form
\begin{equation}\label{eqn:reciprocal:2560}
\textrm{Proj}_{\textrm{T}} y = \lr{ y \cdot \Bx^\mu } \Bx_\mu = \lr{ y \cdot \Bx_\mu } \Bx^\mu.
\end{equation}

Start proof:

Let’s designate \( a \) as the portion of the vector \( y \) that lies outside of the tangent space
\begin{equation}\label{eqn:reciprocal:2260}
y = y^\mu \Bx_\mu + a.
\end{equation}
If we knew the coordinates \( y^\mu \), we would have a recipe for the projection.
Algebraically, requiring that \( a \) lies outside of the tangent space, is equivalent to stating \( a \cdot \Bx_\mu = a \cdot \Bx^\mu = 0 \). We use that fact, and then take dot products
\begin{equation}\label{eqn:reciprocal:2280}
\begin{aligned}
y \cdot \Bx^\nu
&= \lr{ y^\mu \Bx_\mu + a } \cdot \Bx^\nu \\
&= y^\nu,
\end{aligned}
\end{equation}
so
\begin{equation}\label{eqn:reciprocal:2300}
y = \lr{ y \cdot \Bx^\mu } \Bx_\mu + a.
\end{equation}
Similarly, the tangent space projection can be expressed as a linear combination of reciprocal basis elements
\begin{equation}\label{eqn:reciprocal:2320}
y = y_\mu \Bx^\mu + a.
\end{equation}
Dotting with \( \Bx_\mu \), we have
\begin{equation}\label{eqn:reciprocal:2340}
\begin{aligned}
y \cdot \Bx^\mu
&= \lr{ y_\alpha \Bx^\alpha + a } \cdot \Bx_\mu \\
&= y_\mu,
\end{aligned}
\end{equation}
so
\begin{equation}\label{eqn:reciprocal:2360}
y = \lr{ y \cdot \Bx^\mu } \Bx_\mu + a.
\end{equation}
We find the two stated ways of computing the projection.

Observe that, for the special case that all of \( \setlr{ \Bx_\mu } \) are orthogonal, the equivalence of these two projection methods follows directly, since
\begin{equation}\label{eqn:reciprocal:2380}
\begin{aligned}
\lr{ y \cdot \Bx^\mu } \Bx_\mu
&=
\lr{ y \cdot \inv{\Bx_\mu} } \inv{\Bx^\mu} \\
&=
\lr{ y \cdot \frac{\Bx_\mu}{\lr{\Bx_\mu}^2 } } \frac{\Bx^\mu}{\lr{\Bx^\mu}^2} \\
&=
\lr{ y \cdot \Bx_\mu } \Bx^\mu.
\end{aligned}
\end{equation}

End proof.

Curvilinear coordinates and gradient in spacetime, and reciprocal frames.

December 1, 2020 math and physics play 2 comments , , , , , , , , , , , , , , , , , , , , , , , , , , , , ,

[If mathjax doesn’t display properly for you, click here for a PDF of this post]

Motivation.

I started pondering some aspects of spacetime integration theory, and found that there were some aspects of the concepts of reciprocal frames that were not clear to me. In the process of sorting those ideas out for myself, I wrote up the following notes.

In the notes below, I will introduce the many of the prerequisite ideas that are needed to express and apply the fundamental theorem of geometric calculus in a 4D relativistic context. The focus will be the Dirac’s algebra of special relativity, known as STA (Space Time Algebra) in geometric algebra parlance. If desired, it should be clear how to apply these ideas to lower or higher dimensional spaces, and to plain old Euclidean metrics.

On notation.

In Euclidean space we use bold face reciprocal frame vectors \( \Bx^i \cdot \Bx_j = {\delta^i}_j \), which nicely distinguishes them from the generalized coordinates \( x_i, x^j \) associated with the basis or the reciprocal frame, that is
\begin{equation}\label{eqn:reciprocalblog:640}
\Bx = x^i \Bx_i = x_j \Bx^j.
\end{equation}
On the other hand, it is conventional to use non-bold face for both the four-vectors and their coordinates in STA, such as the following standard basis decomposition
\begin{equation}\label{eqn:reciprocalblog:660}
x = x^\mu \gamma_\mu = x_\mu \gamma^\mu.
\end{equation}
If we use non-bold face \( x^\mu, x_\nu \) for the coordinates with respect to a specified frame, then we cannot also use non-bold face for the curvilinear basis vectors.

To resolve this notational ambiguity, I’ve chosen to use bold face \( \Bx^\mu, \Bx_\nu \) symbols as the curvilinear basis elements in this relativistic context, as we do for Euclidean spaces.

Basis and coordinates.

Definition 1.1: Standard Dirac basis.

The Dirac basis elements are \(\setlr{ \gamma_0, \gamma_1, \gamma_2, \gamma_3 } \), satisfying
\begin{equation}\label{eqn:reciprocalblog:1940}
\gamma_0^2 = 1 = -\gamma_k^2, \quad \forall k = 1,2,3,
\end{equation}
and
\begin{equation}\label{eqn:reciprocalblog:740}
\gamma_\mu \cdot \gamma_\nu = 0, \quad \forall \mu \ne \nu.
\end{equation}

A conventional way of summarizing these orthogonality relationships is \( \gamma_\mu \cdot \gamma_\nu = \eta_{\mu\nu} \), where \( \eta_{\mu\nu} \) are the elements of the metric \( G = \text{diag}(+,-,-,-) \).

Definition 1.2: Reciprocal basis for the standard Dirac basis.

We define a reciprocal basis \( \setlr{ \gamma^0, \gamma^1, \gamma^2, \gamma^3} \) satisfying \( \gamma^\mu \cdot \gamma_\nu = {\delta^\mu}_\nu, \forall \mu,\nu \in 0,1,2,3 \).

Theorem 1.1: Reciprocal basis uniqueness.

This reciprocal basis is unique, and for our choice of metric has the values
\begin{equation}\label{eqn:reciprocalblog:1960}
\gamma^0 = \gamma_0, \quad \gamma^k = -\gamma_k, \quad \forall k = 1,2,3.
\end{equation}

Proof is left to the reader.

Definition 1.3: Coordinates.

We define the coordinates of a vector with respect to the standard basis as \( x^\mu \) satisfying
\begin{equation}\label{eqn:reciprocalblog:1980}
x = x^\mu \gamma_\mu,
\end{equation}
and define the coordinates of a vector with respect to the reciprocal basis as \( x_\mu \) satisfying
\begin{equation}\label{eqn:reciprocalblog:2000}
x = x_\mu \gamma^\mu,
\end{equation}

Theorem 1.2: Coordinates.

Given the definitions above, we may compute the coordinates of a vector, simply by dotting with the basis elements
\begin{equation}\label{eqn:reciprocalblog:2020}
x^\mu = x \cdot \gamma^\mu,
\end{equation}
and
\begin{equation}\label{eqn:reciprocalblog:2040}
x_\mu = x \cdot \gamma_\mu,
\end{equation}

Start proof:

This follows by straightforward computation
\begin{equation}\label{eqn:reciprocalblog:840}
\begin{aligned}
x \cdot \gamma^\mu
&=
\lr{ x^\nu \gamma_\nu } \cdot \gamma^\mu \\
&=
x^\nu \lr{ \gamma_\nu \cdot \gamma^\mu } \\
&=
x^\nu {\delta_\nu}^\mu \\
&=
x^\mu,
\end{aligned}
\end{equation}
and
\begin{equation}\label{eqn:reciprocalblog:860}
\begin{aligned}
x \cdot \gamma_\mu
&=
\lr{ x_\nu \gamma^\nu } \cdot \gamma_\mu \\
&=
x_\nu \lr{ \gamma^\nu \cdot \gamma_\mu } \\
&=
x_\nu {\delta^\nu}_\mu \\
&=
x_\mu.
\end{aligned}
\end{equation}

End proof.

Derivative operators.

We’d like to determine the form of the (spacetime) gradient operator. The gradient can be defined in terms of coordinates directly, but we choose an implicit definition, in terms of the directional derivative.

Definition 1.4: Directional derivative and gradient.

Let \( F = F(x) \) be a four-vector parameterized multivector. The directional derivative of \( F \) with respect to the (four-vector) direction \( a \) is denoted
\begin{equation}\label{eqn:reciprocalblog:2060}
\lr{ a \cdot \grad } F = \lim_{\epsilon \rightarrow 0} \frac{ F(x + \epsilon a) – F(x) }{ \epsilon },
\end{equation}
where \( \grad \) is called the space time gradient.

Theorem 1.3: Gradient.

The standard basis representation of the gradient is
\begin{equation}\label{eqn:reciprocalblog:2080}
\grad = \gamma^\mu \partial_\mu,
\end{equation}
where
\begin{equation}\label{eqn:reciprocalblog:2100}
\partial_\mu = \PD{x^\mu}{}.
\end{equation}

Start proof:

The Dirac gradient pops naturally out of the coordinate representation of the directional derivative, as we can see by expanding \( F(x + \epsilon a) \) in Taylor series
\begin{equation}\label{eqn:reciprocalblog:900}
\begin{aligned}
F(x + \epsilon a)
&= F(x) + \epsilon \frac{dF(x + \epsilon a)}{d\epsilon} + O(\epsilon^2) \\
&= F(x) + \epsilon \PD{\lr{x^\mu + \epsilon a^\mu}}{F} \PD{\epsilon}{\lr{x^\mu + \epsilon a^\mu}} \\
&= F(x) + \epsilon \PD{\lr{x^\mu + \epsilon a^\mu}}{F} a^\mu.
\end{aligned}
\end{equation}
The directional derivative is
\begin{equation}\label{eqn:reciprocalblog:920}
\begin{aligned}
\lim_{\epsilon \rightarrow 0}
\frac{F(x + \epsilon a) – F(x)}{\epsilon}
&=
\lim_{\epsilon \rightarrow 0}\,
a^\mu
\PD{\lr{x^\mu + \epsilon a^\mu}}{F} \\
&=
a^\mu
\PD{x^\mu}{F} \\
&=
\lr{a^\nu \gamma_\nu} \cdot \gamma^\mu \PD{x^\mu}{F} \\
&=
a \cdot \lr{ \gamma^\mu \partial_\mu } F.
\end{aligned}
\end{equation}

End proof.

Curvilinear bases.

Curvilinear bases are the foundation of the fundamental theorem of multivector calculus. This form of integral calculus is defined over parameterized surfaces (called manifolds) that satisfy some specific non-degeneracy and continuity requirements.

A parameterized vector \( x(u,v, \cdots w) \) can be thought of as tracing out a hypersurface (curve, surface, volume, …), where the dimension of the hypersurface depends on the number of parameters. At each point, a bases can be constructed from the differentials of the parameterized vector. Such a basis is called the tangent space to the surface at the point in question. Our curvilinear bases will be related to these differentials. We will also be interested in a dual basis that is restricted to the span of the tangent space. This dual basis will be called the reciprocal frame, and line the basis of the tangent space itself, also varies from point to point on the surface.

Fig 1a. One parameter curve, with illustration of tangent space along the curve.

Fig 1b. Two parameter surface, with illustration of tangent space along the surface.

One and two parameter spaces are illustrated in fig. 1a, and 1b.  The tangent space basis at a specific point of a two parameter surface, \( x(u^0, u^1) \), is illustrated in fig. 1. The differential directions that span the tangent space are
\begin{equation}\label{eqn:reciprocalblog:1040}
\begin{aligned}
d\Bx_0 &= \PD{u^0}{x} du^0 \\
d\Bx_1 &= \PD{u^1}{x} du^1,
\end{aligned}
\end{equation}
and the tangent space itself is \( \mbox{Span}\setlr{ d\Bx_0, d\Bx_1 } \). We may form an oriented surface area element \( d\Bx_0 \wedge d\Bx_1 \) over this surface.

Fig 2. Two parameter surface.

Tangent spaces associated with 3 or more parameters cannot be easily visualized in three dimensions, but the idea generalizes algebraically without trouble.

Definition 1.5: Tangent basis and space.

Given a parameterization \( x = x(u^0, \cdots, u^N) \), where \( N < 4 \), the span of the vectors
\begin{equation}\label{eqn:reciprocalblog:2120}
\Bx_\mu = \PD{u^\mu}{x},
\end{equation}
is called the tangent space for the hypersurface associated with the parameterization, and it’s basis is
\( \setlr{ \Bx_\mu } \).

Later we will see that parameterization constraints must be imposed, as not all surfaces generated by a set of parameterizations are useful for integration theory. In particular, degenerate parameterizations for which the wedge products of the tangent space basis vectors are zero, or those wedge products cannot be inverted, are not physically meaningful. Properly behaved surfaces of this sort are called manifolds.

Having introduced curvilinear coordinates associated with a parameterization, we can now determine the form of the gradient with respect to a parameterization of spacetime.

Theorem 1.4: Gradient, curvilinear representation.

Given a spacetime parameterization \( x = x(u^0, u^1, u^2, u^3) \), the gradient with respect to the parameters \( u^\mu \) is
\begin{equation}\label{eqn:reciprocalblog:2140}
\grad = \sum_\mu \Bx^\mu
\PD{u^\mu}{},
\end{equation}
where
\begin{equation}\label{eqn:reciprocalblog:2160}
\Bx^\mu = \grad u^\mu.
\end{equation}
The vectors \( \Bx^\mu \) are called the reciprocal frame vectors, and the ordered set \( \setlr{ \Bx^0, \Bx^1, \Bx^2, \Bx^3 } \) is called the reciprocal basis.It is convenient to define \( \partial_\mu \equiv \PDi{u^\mu}{} \), so that the gradient can be expressed in mixed index representation
\begin{equation}\label{eqn:reciprocalblog:2180}
\grad = \Bx^\mu \partial_\mu.
\end{equation}
This introduces some notational ambiguity, since we used \( \partial_\mu = \PDi{x^\mu}{} \) for the standard basis derivative operators too, but we will be careful to be explicit when there is any doubt about what is intended.

Start proof:

The proof follows by application of the chain rule.
\begin{equation}\label{eqn:reciprocalblog:960}
\begin{aligned}
\grad F
&=
\gamma^\alpha \PD{x^\alpha}{F} \\
&=
\gamma^\alpha
\PD{x^\alpha}{u^\mu}
\PD{u^\mu}{F} \\
&=
\lr{ \grad u^\mu } \PD{u^\mu}{F} \\
&=
\Bx^\mu \PD{u^\mu}{F}.
\end{aligned}
\end{equation}

End proof.

Theorem 1.5: Reciprocal relationship.

The vectors \( \Bx^\mu = \grad u^\mu \), and \( \Bx_\mu = \PDi{u^\mu}{x} \) satisfy the reciprocal relationship
\begin{equation}\label{eqn:reciprocalblog:2200}
\Bx^\mu \cdot \Bx_\nu = {\delta^\mu}_\nu.
\end{equation}

Start proof:

\begin{equation}\label{eqn:reciprocalblog:1020}
\begin{aligned}
\Bx^\mu \cdot \Bx_\nu
&=
\grad u^\mu \cdot
\PD{u^\nu}{x} \\
&=
\lr{
\gamma^\alpha \PD{x^\alpha}{u^\mu}
}
\cdot
\lr{
\PD{u^\nu}{x^\beta} \gamma_\beta
} \\
&=
{\delta^\alpha}_\beta \PD{x^\alpha}{u^\mu}
\PD{u^\nu}{x^\beta} \\
&=
\PD{x^\alpha}{u^\mu} \PD{u^\nu}{x^\alpha} \\
&=
\PD{u^\nu}{u^\mu} \\
&=
{\delta^\mu}_\nu
.
\end{aligned}
\end{equation}

End proof.

It is instructive to consider an example. Here is a parameterization that scales the proper time parameter, and uses polar coordinates in the \(x-y\) plane.

Problem: Compute the curvilinear and reciprocal basis.

Given
\begin{equation}\label{eqn:reciprocalblog:2360}
x(t,\rho,\theta,z) = c t \gamma_0 + \gamma_1 \rho e^{i \theta} + z \gamma_3,
\end{equation}
where \( i = \gamma_1 \gamma_2 \), compute the curvilinear frame vectors and their reciprocals.

Answer

The frame vectors are all easy to compute
\begin{equation}\label{eqn:reciprocalblog:1180}
\begin{aligned}
\Bx_0 &= \PD{t}{x} = c \gamma_0 \\
\Bx_1 &= \PD{\rho}{x} = \gamma_1 e^{i \theta} \\
\Bx_2 &= \PD{\theta}{x} = \rho \gamma_1 \gamma_1 \gamma_2 e^{i \theta} = – \rho \gamma_2 e^{i \theta} \\
\Bx_3 &= \PD{z}{x} = \gamma_3.
\end{aligned}
\end{equation}
The \( \Bx_1 \) vector is radial, \( \Bx^2 \) is perpendicular to that tangent to the same unit circle, as plotted in fig 3.

Fig3: Tangent space direction vectors.

All of these particular frame vectors happen to be mutually perpendicular, something that will not generally be true for a more arbitrary parameterization.

To compute the reciprocal frame vectors, we must express our parameters in terms of \( x^\mu \) coordinates, and use implicit integration techniques to deal with the coupling of the rotational terms. First observe that
\begin{equation}\label{eqn:reciprocalblog:1200}
\gamma_1 e^{i\theta}
= \gamma_1 \lr{ \cos\theta + \gamma_1 \gamma_2 \sin\theta }
= \gamma_1 \cos\theta – \gamma_2 \sin\theta,
\end{equation}
so
\begin{equation}\label{eqn:reciprocalblog:1220}
\begin{aligned}
x^0 &= c t \\
x^1 &= \rho \cos\theta \\
x^2 &= -\rho \sin\theta \\
x^3 &= z.
\end{aligned}
\end{equation}
We can easily evaluate the \( t, z \) gradients
\begin{equation}\label{eqn:reciprocalblog:1240}
\begin{aligned}
\grad t &= \frac{\gamma^1 }{c} \\
\grad z &= \gamma^3,
\end{aligned}
\end{equation}
but the \( \rho, \theta \) gradients are not as easy. First writing
\begin{equation}\label{eqn:reciprocalblog:1260}
\rho^2 = \lr{x^1}^2 + \lr{x^2}^2,
\end{equation}
we find
\begin{equation}\label{eqn:reciprocalblog:1280}
\begin{aligned}
2 \rho \grad \rho = 2 \lr{ x^1 \grad x^1 + x^2 \grad x^2 }
&= 2 \rho \lr{ \cos\theta \gamma^1 – \sin\theta \gamma^2 } \\
&= 2 \rho \gamma^1 \lr{ \cos\theta – \gamma_1 \gamma^2 \sin\theta } \\
&= 2 \rho \gamma^1 e^{i\theta},
\end{aligned}
\end{equation}
so
\begin{equation}\label{eqn:reciprocalblog:1300}
\grad \rho = \gamma^1 e^{i\theta}.
\end{equation}
For the \( \theta \) gradient, we can write
\begin{equation}\label{eqn:reciprocalblog:1320}
\tan\theta = -\frac{x^2}{x^1},
\end{equation}
so
\begin{equation}\label{eqn:reciprocalblog:1340}
\begin{aligned}
\inv{\cos^2 \theta} \grad \theta
&= -\frac{\gamma^2}{x^1} – x^2 \frac{-\gamma^1}{\lr{x^1}^2} \\
&= \inv{\lr{x^1}^2} \lr{ – \gamma^2 x^1 + \gamma^1 x^2 } \\
&= \frac{\rho}{\rho^2 \cos^2\theta } \lr{ – \gamma^2 \cos\theta – \gamma^1 \sin\theta } \\
&= -\frac{1}{\rho \cos^2\theta } \gamma^2 \lr{ \cos\theta + \gamma_2 \gamma^1 \sin\theta } \\
&= -\frac{\gamma^2 e^{i\theta} }{\rho \cos^2\theta },
\end{aligned}
\end{equation}
or
\begin{equation}\label{eqn:reciprocalblog:1360}
\grad\theta = -\inv{\rho} \gamma^2 e^{i\theta}.
\end{equation}
In summary,
\begin{equation}\label{eqn:reciprocalblog:1380}
\begin{aligned}
\Bx^0 &= \frac{\gamma^0}{c} \\
\Bx^1 &= \gamma^1 e^{i\theta} \\
\Bx^2 &= -\inv{\rho} \gamma^2 e^{i\theta} \\
\Bx^3 &= \gamma^3.
\end{aligned}
\end{equation}

Despite being a fairly simple parameterization, it was still fairly difficult to solve for the gradients when the parameterization introduced coupling between the coordinates. In this particular case, we could have solved for the parameters in terms of the coordinates (but it was easier not to), but that will not generally be true. We want a less labor intensive strategy to find the reciprocal frame. When we have a full parameterization of spacetime, then we can do this with nothing more than a matrix inversion.

Theorem 1.6: Reciprocal frame matrix equations.

Given a spacetime basis \( \setlr{\Bx_0, \cdots \Bx_3} \), let \( [\Bx_\mu] \) and \( [\Bx^\nu] \) be column matrices with the coordinates of these vectors and their reciprocals, with respect to the standard basis \( \setlr{\gamma_0, \gamma_1, \gamma_2, \gamma_3 } \). Let
\begin{equation}\label{eqn:reciprocalblog:2220}
A =
\begin{bmatrix}
[\Bx_0] & \cdots & [\Bx_{3}]
\end{bmatrix}
,\qquad
X =
\begin{bmatrix}
[\Bx^0] & \cdots & [\Bx^{3}]
\end{bmatrix}.
\end{equation}
The coordinates of the reciprocal frame vectors can be found by solving
\begin{equation}\label{eqn:reciprocalblog:2240}
A^\T G X = 1,
\end{equation}
where \( G = \text{diag}(1,-1,-1,-1) \) and the RHS is an \( 4 \times 4 \) identity matrix.

Start proof:

Let \( \Bx_\mu = {a_\mu}^\alpha \gamma_\alpha, \Bx^\nu = b^{\nu\beta} \gamma_\beta \), so that
\begin{equation}\label{eqn:reciprocalblog:140}
A =
\begin{bmatrix}
{a_\nu}^\mu
\end{bmatrix},
\end{equation}
and
\begin{equation}\label{eqn:reciprocalblog:160}
X =
\begin{bmatrix}
b^{\nu\mu}
\end{bmatrix},
\end{equation}
where \( \mu \in [0,3]\) are the row indexes and \( \nu \in [0,N-1]\) are the column indexes. The reciprocal frame satisfies \( \Bx_\mu \cdot \Bx^\nu = {\delta_\mu}^\nu \), which has the coordinate representation of
\begin{equation}\label{eqn:reciprocalblog:180}
\begin{aligned}
\Bx_\mu \cdot \Bx^\nu
&=
\lr{
{a_\mu}^\alpha \gamma_\alpha
}
\cdot
\lr{
b^{\nu\beta} \gamma_\beta
} \\
&=
{a_\mu}^\alpha
\eta_{\alpha\beta}
b^{\nu\beta} \\
&=
{[A^\T G B]_\mu}^\nu,
\end{aligned}
\end{equation}
where \( \mu \) is the row index and \( \nu \) is the column index.

End proof.

Problem: Matrix inversion reciprocals.

For the parameterization of \ref{eqn:reciprocalblog:2360}, find the reciprocal frame vectors by matrix inversion.

Answer

We expanded \( \Bx_1 \) explicitly in \ref{eqn:reciprocalblog:1200}. Doing the same for \( \Bx_2 \), we have
\begin{equation}\label{eqn:reciprocalblog:1201}
\Bx_2 =
-\rho \gamma_2 e^{i\theta}
= -\rho \gamma_2 \lr{ \cos\theta + \gamma_1 \gamma_2 \sin\theta }
= – \rho \lr{ \gamma_2 \cos\theta + \gamma_1 \sin\theta}.
\end{equation}
Reading off the coordinates of our frame vectors, we have
\begin{equation}\label{eqn:reciprocalblog:1400}
X =
\begin{bmatrix}
c & 0 & 0 & 0 \\
0 & C & -\rho S & 0 \\
0 & -S & -\rho C & 0 \\
0 & 0 & 0 & 1 \\
\end{bmatrix},
\end{equation}
where \( C = \cos\theta \) and \( S = \sin\theta \). We want
\begin{equation}\label{eqn:reciprocalblog:1420}
Y =
{\begin{bmatrix}
c & 0 & 0 & 0 \\
0 & -C & S & 0 \\
0 & \rho S & \rho C & 0 \\
0 & 0 & 0 & -1 \\
\end{bmatrix}}^{-1}
=
\begin{bmatrix}
\inv{c} & 0 & 0 & 0 \\
0 & -C & \frac{S}{\rho} & 0 \\
0 & S & \frac{C}{\rho} & 0 \\
0 & 0 & 0 & -1 \\
\end{bmatrix}.
\end{equation}
We can read off the coordinates of the reciprocal frame vectors
\begin{equation}\label{eqn:reciprocalblog:1440}
\begin{aligned}
\Bx^0 &= \inv{c} \gamma_0 \\
\Bx^1 &= -\cos\theta \gamma_1 + \sin\theta \gamma_2 \\
\Bx^2 &= \inv{\rho} \lr{ \sin\theta \gamma_1 + \cos\theta \gamma_2 } \\
\Bx^3 &= -\gamma_3.
\end{aligned}
\end{equation}
Factoring out \( \gamma^1 \) from the \( \Bx^1 \) terms, we find
\begin{equation}\label{eqn:reciprocalblog:1460}
\begin{aligned}
\Bx^1
&= -\cos\theta \gamma_1 + \sin\theta \gamma_2 \\
&= \gamma^1 \lr{ \cos\theta + \gamma_1 \gamma_2 \sin\theta } \\
&= \gamma^1 e^{i\theta}.
\end{aligned}
\end{equation}
Similarly for \( \Bx^2 \),
\begin{equation}\label{eqn:reciprocalblog:1480}
\begin{aligned}
\Bx^2
&= \inv{\rho} \lr{ \sin\theta \gamma_1 + \cos\theta \gamma_2 } \\
&= \frac{\gamma^2}{\rho} \lr{ \sin\theta \gamma_2 \gamma_1 – \cos\theta } \\
&= -\frac{\gamma^2}{\rho} e^{i\theta}.
\end{aligned}
\end{equation}
This matches \ref{eqn:reciprocalblog:1380}, as expected, but required only algebraic work to compute.

There will be circumstances where we parameterize only a subset of spacetime, and are interested in calculating quantities associated with such a surface. For example, suppose that
\begin{equation}\label{eqn:reciprocalblog:1500}
x(\rho,\theta) = \gamma_1 \rho e^{i \theta},
\end{equation}
where \( i = \gamma_1 \gamma_2 \) as before. We are now parameterizing only the \(x-y\) plane. We will still find
\begin{equation}\label{eqn:reciprocalblog:1520}
\begin{aligned}
\Bx_1 &= \gamma_1 e^{i \theta} \\
\Bx_2 &= -\gamma_2 \rho e^{i \theta}.
\end{aligned}
\end{equation}
We can compute the reciprocals of these vectors using the gradient method. It’s possible to state matrix equations representing the reciprocal relationship of \ref{eqn:reciprocalblog:2200}, which, in this case, is \( X^\T G Y = 1 \), where the RHS is a \( 2 \times 2 \) identity matrix, and \( X, Y\) are \( 4\times 2\) matrices of coordinates, with
\begin{equation}\label{eqn:reciprocalblog:1540}
X =
\begin{bmatrix}
0 & 0 \\
C & -\rho S \\
-S & -\rho C \\
0 & 0
\end{bmatrix}.
\end{equation}
We no longer have a square matrix problem to solve, and our solution set is multivalued. In particular, this matrix equation has solutions
\begin{equation}\label{eqn:reciprocalblog:1560}
\begin{aligned}
\Bx^1 &= \gamma^1 e^{i\theta} + \alpha \gamma^0 + \beta \gamma^3 \\
\Bx^2 &= -\frac{\gamma^2}{\rho} e^{i\theta} + \alpha’ \gamma^0 + \beta’ \gamma^3.
\end{aligned}
\end{equation}
where \( \alpha, \alpha’, \beta, \beta’ \) are arbitrary constants. In the example we considered, we saw that our \( \rho, \theta \) parameters were functions of only \( x^1, x^2 \), so taking gradients could not introduce any \( \gamma^0, \gamma^3 \) dependence in \( \Bx^1, \Bx^2 \). It seems reasonable to assert that we seek an algebraic method of computing a set of vectors that satisfies the reciprocal relationships, where that set of vectors is restricted to the tangent space. We will need to figure out how to prove that this reciprocal construction is identical to the parameter gradients, but let’s start with figuring out what such a tangent space restricted solution looks like.

Theorem 1.7: Reciprocal frame for two parameter subspace.

Given two vectors, \( \Bx_1, \Bx_2 \), the vectors \( \Bx^1, \Bx^2 \in \mbox{Span}\setlr{ \Bx_1, \Bx_2 } \) such that \( \Bx^\mu \cdot \Bx_\nu = {\delta^\mu}_\nu \) are given by
\begin{equation}\label{eqn:reciprocalblog:2260}
\begin{aligned}
\Bx^1 &= \Bx_2 \cdot \inv{\Bx_1 \wedge \Bx_2} \\
\Bx^2 &= -\Bx_1 \cdot \inv{\Bx_1 \wedge \Bx_2},
\end{aligned}
\end{equation}
provided \( \Bx_1 \wedge \Bx_2 \ne 0 \) and
\( \lr{ \Bx_1 \wedge \Bx_2 }^2 \ne 0 \).

Start proof:

The most general set of vectors that satisfy the span constraint are
\begin{equation}\label{eqn:reciprocalblog:1580}
\begin{aligned}
\Bx^1 &= a \Bx_1 + b \Bx_2 \\
\Bx^2 &= c \Bx_1 + d \Bx_2.
\end{aligned}
\end{equation}
We can use wedge products with either \( \Bx_1 \) or \( \Bx_2 \) to eliminate the other from the RHS
\begin{equation}\label{eqn:reciprocalblog:1600}
\begin{aligned}
\Bx^1 \wedge \Bx_2 &= a \lr{ \Bx_1 \wedge \Bx_2 } \\
\Bx^1 \wedge \Bx_1 &= – b \lr{ \Bx_1 \wedge \Bx_2 } \\
\Bx^2 \wedge \Bx_2 &= c \lr{ \Bx_1 \wedge \Bx_2 } \\
\Bx^2 \wedge \Bx_1 &= – d \lr{ \Bx_1 \wedge \Bx_2 },
\end{aligned}
\end{equation}
and then dot both sides with \( \Bx_1 \wedge \Bx_2 \) to produce four scalar equations
\begin{equation}\label{eqn:reciprocalblog:1640}
\begin{aligned}
a \lr{ \Bx_1 \wedge \Bx_2 }^2
&= \lr{ \Bx^1 \wedge \Bx_2 } \cdot \lr{ \Bx_1 \wedge \Bx_2 } \\
&=
\lr{ \Bx_2 \cdot \Bx_1 } \lr{ \Bx^1 \cdot \Bx_2 }

\lr{ \Bx_2 \cdot \Bx_2 } \lr{ \Bx^1 \cdot \Bx_1 } \\
&=
\lr{ \Bx_2 \cdot \Bx_1 } (0)

\lr{ \Bx_2 \cdot \Bx_2 } (1) \\
&= – \Bx_2 \cdot \Bx_2
\end{aligned}
\end{equation}
\begin{equation}\label{eqn:reciprocalblog:1660}
\begin{aligned}
– b \lr{ \Bx_1 \wedge \Bx_2 }^2
&=
\lr{ \Bx^1 \wedge \Bx_1 } \cdot \lr{ \Bx_1 \wedge \Bx_2 } \\
&=
\lr{ \Bx^1 \cdot \Bx_2 } \lr{ \Bx_1 \cdot \Bx_1 }

\lr{ \Bx^1 \cdot \Bx_1 } \lr{ \Bx_1 \cdot \Bx_2 } \\
&=
(0) \lr{ \Bx_1 \cdot \Bx_1 }

(1) \lr{ \Bx_1 \cdot \Bx_2 } \\
&= – \Bx_1 \cdot \Bx_2
\end{aligned}
\end{equation}
\begin{equation}\label{eqn:reciprocalblog:1680}
\begin{aligned}
c \lr{ \Bx_1 \wedge \Bx_2 }^2
&= \lr{ \Bx^2 \wedge \Bx_2 } \cdot \lr{ \Bx_1 \wedge \Bx_2 } \\
&=
\lr{ \Bx_2 \cdot \Bx_1 } \lr{ \Bx^2 \cdot \Bx_2 }

\lr{ \Bx_2 \cdot \Bx_2 } \lr{ \Bx^2 \cdot \Bx_1 } \\
&=
\lr{ \Bx_2 \cdot \Bx_1 } (1)

\lr{ \Bx_2 \cdot \Bx_2 } (0) \\
&= \Bx_2 \cdot \Bx_1
\end{aligned}
\end{equation}
\begin{equation}\label{eqn:reciprocalblog:1700}
\begin{aligned}
– d \lr{ \Bx_1 \wedge \Bx_2 }^2
&= \lr{ \Bx^2 \wedge \Bx_1 } \cdot \lr{ \Bx_1 \wedge \Bx_2 } \\
&=
\lr{ \Bx_1 \cdot \Bx_1 } \lr{ \Bx^2 \cdot \Bx_2 }

\lr{ \Bx_1 \cdot \Bx_2 } \lr{ \Bx^2 \cdot \Bx_1 } \\
&=
\lr{ \Bx_1 \cdot \Bx_1 } (1)

\lr{ \Bx_1 \cdot \Bx_2 } (0) \\
&= \Bx_1 \cdot \Bx_1.
\end{aligned}
\end{equation}
Putting the pieces together we have
\begin{equation}\label{eqn:reciprocalblog:1740}
\begin{aligned}
\Bx^1
&= \frac{ – \lr{ \Bx_2 \cdot \Bx_2 } \Bx_1 + \lr{ \Bx_1 \cdot \Bx_2 } \Bx_2
}{\lr{\Bx_1 \wedge \Bx_2}^2} \\
&=
\frac{
\Bx_2 \cdot \lr{ \Bx_1 \wedge \Bx_2 }
}{\lr{\Bx_1 \wedge \Bx_2}^2} \\
&=
\Bx_2 \cdot \inv{\Bx_1 \wedge \Bx_2}
\end{aligned}
\end{equation}
\begin{equation}\label{eqn:reciprocalblog:1760}
\begin{aligned}
\Bx^2
&=
\frac{ \lr{ \Bx_1 \cdot \Bx_2 } \Bx_1 – \lr{ \Bx_1 \cdot \Bx_1 } \Bx_2
}{\lr{\Bx_1 \wedge \Bx_2}^2} \\
&=
\frac{ -\Bx_1 \cdot \lr{ \Bx_1 \wedge \Bx_2 } }
{\lr{\Bx_1 \wedge \Bx_2}^2} \\
&=
-\Bx_1 \cdot \inv{\Bx_1 \wedge \Bx_2}
\end{aligned}
\end{equation}

End proof.

Lemma 1.1: Distribution identity.

Given k-vectors \( B, C \) and a vector \( a \), where the grade of \( C \) is greater than that of \( B \), then
\begin{equation}\label{eqn:reciprocalblog:2280}
\lr{a \wedge B} \cdot C = a \cdot \lr{ B \cdot C }.
\end{equation}

See [1] for a proof.

Theorem 1.8: Higher order tangent space reciprocals.

Given an \(N\) parameter tangent space with basis \( \setlr{ \Bx_0, \Bx_1, \cdots \Bx_{N-1} } \), the reciprocals are given by
\begin{equation}\label{eqn:reciprocalblog:2300}
\Bx^\mu = (-1)^\mu
\lr{ \Bx_0 \wedge \cdots \check{\Bx_\mu} \cdots \wedge \Bx_{N-1} } \cdot I_N^{-1},
\end{equation}
where the checked term (\(\check{\Bx_\mu}\)) indicates that all terms are included in the wedges except the \( \Bx_\mu \) term, and \( I_N = \Bx_0 \wedge \cdots \Bx_{N-1} \) is the pseudoscalar for the tangent space.

Start proof:

I’ll outline the proof for the three parameter tangent space case, from which the pattern will be clear. The motivation for this proof is a reexamination of the algebraic structure of the two vector solution. Suppose we have a tangent space basis \( \setlr{\Bx_0, \Bx_1} \), for which we’ve shown that
\begin{equation}\label{eqn:reciprocalblog:1860}
\begin{aligned}
\Bx^0
&= \Bx_1 \cdot \inv{\Bx_0 \wedge \Bx_1} \\
&= \frac{\Bx_1 \cdot \lr{\Bx_0 \wedge \Bx_1} }{\lr{ \Bx_0 \wedge \Bx_1}^2 }.
\end{aligned}
\end{equation}
If we dot with \( \Bx_0 \) and \( \Bx_1 \) respectively, we find
\begin{equation}\label{eqn:reciprocalblog:1800}
\begin{aligned}
\Bx_0 \cdot \Bx^0
&=
\Bx_0 \cdot \frac{ \Bx_1 \cdot \lr{ \Bx_0 \wedge \Bx_1 } }{\lr{ \Bx_0 \wedge \Bx_1}^2 } \\
&=
\lr{ \Bx_0 \wedge \Bx_1 } \cdot \frac{ \Bx_0 \wedge \Bx_1 }{\lr{ \Bx_0 \wedge \Bx_1}^2 }.
\end{aligned}
\end{equation}
We end up with unity as expected. Here the
“factored” out vector is reincorporated into the pseudoscalar using the distribution identity \ref{eqn:reciprocalblog:2280}.
Similarly, dotting with \( \Bx_1 \), we find
\begin{equation}\label{eqn:reciprocalblog:0810}
\begin{aligned}
\Bx_1 \cdot \Bx^0
&=
\Bx_1 \cdot \frac{ \Bx_1 \cdot \lr{ \Bx_0 \wedge \Bx_1 } }{\lr{ \Bx_0 \wedge \Bx_1}^2 } \\
&=
\lr{ \Bx_1 \wedge \Bx_1 } \cdot \frac{ \Bx_0 \wedge \Bx_1 }{\lr{ \Bx_0 \wedge \Bx_1}^2 }.
\end{aligned}
\end{equation}
This is zero, since wedging a vector with itself is zero. We can perform such an operation in reverse, taking the square of the tangent space pseudoscalar, and factoring out one of the basis vectors. After this, division by that squared pseudoscalar will normalize things.

For a three parameter tangent space with basis \( \setlr{ \Bx_0, \Bx_1, \Bx_2 } \), we can factor out any of the tangent vectors like so
\begin{equation}\label{eqn:reciprocalblog:1880}
\begin{aligned}
\lr{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 }^2
&= \Bx_0 \cdot \lr{ \lr{ \Bx_1 \wedge \Bx_2 } \cdot \lr{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 } } \\
&= (-1) \Bx_1 \cdot \lr{ \lr{ \Bx_0 \wedge \Bx_2 } \cdot \lr{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 } } \\
&= (-1)^2 \Bx_2 \cdot \lr{ \lr{ \Bx_0 \wedge \Bx_1 } \cdot \lr{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 } }.
\end{aligned}
\end{equation}
The toggling of sign reflects the number of permutations required to move the vector of interest to the front of the wedge sequence. Having factored out any one of the vectors, we can rearrange to find that vector that is it’s inverse and perpendicular to all the others.
\begin{equation}\label{eqn:reciprocalblog:1900}
\begin{aligned}
\Bx^0 &= (-1)^0 \lr{ \Bx_1 \wedge \Bx_2 } \cdot \inv{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 } \\
\Bx^1 &= (-1)^1 \lr{ \Bx_0 \wedge \Bx_2 } \cdot \inv{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 } \\
\Bx^2 &= (-1)^2 \lr{ \Bx_0 \wedge \Bx_1 } \cdot \inv{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 }.
\end{aligned}
\end{equation}

End proof.

In the fashion above, should we want the reciprocal frame for all of spacetime given dimension 4 tangent space, we can state it trivially
\begin{equation}\label{eqn:reciprocalblog:1920}
\begin{aligned}
\Bx^0 &= (-1)^0 \lr{ \Bx_1 \wedge \Bx_2 \wedge \Bx_3 } \cdot \inv{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 \wedge \Bx_3 } \\
\Bx^1 &= (-1)^1 \lr{ \Bx_0 \wedge \Bx_2 \wedge \Bx_3 } \cdot \inv{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 \wedge \Bx_3 } \\
\Bx^2 &= (-1)^2 \lr{ \Bx_0 \wedge \Bx_1 \wedge \Bx_3 } \cdot \inv{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 \wedge \Bx_3 } \\
\Bx^3 &= (-1)^3 \lr{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 } \cdot \inv{ \Bx_0 \wedge \Bx_1 \wedge \Bx_2 \wedge \Bx_3 }.
\end{aligned}
\end{equation}
This is probably not an efficient way to compute all these reciprocals, since we can utilize a single matrix inversion to solve them in one shot. However, there are theoretical advantages to this construction that will be useful when we get to integration theory.

On degeneracy.

A small mention of degeneracy was mentioned above. Regardless of metric, \( \Bx_0 \wedge \Bx_1 = 0 \) means that this pair of vectors are colinear. A tangent space with such a pseudoscalar is clearly undesirable, and we must construct parameterizations for which the area element is non-zero in all regions of interest.

Things get more interesting in mixed signature spaces where we can have vectors that square to zero (i.e. lightlike). If the tangent space pseudoscalar has a lightlike factor, then that pseudoscalar will not be invertible. Such a degeneracy will will likely lead to many other troubles, and parameterizations of this sort should be avoided.

This following problem illustrates an example of this sort of degenerate parameterization.

Problem: Degenerate surface parameterization.

Given a spacetime plane parameterization \( x(u,v) = u a + v b \), where
\begin{equation}\label{eqn:reciprocalblog:480}
a = \gamma_0 + \gamma_1 + \gamma_2 + \gamma_3,
\end{equation}
\begin{equation}\label{eqn:reciprocalblog:500}
b = \gamma_0 – \gamma_1 + \gamma_2 – \gamma_3,
\end{equation}
show that this is a degenerate parameterization, and find the bivector that represents the tangent space. Are these vectors lightlike, spacelike, or timelike? Comment on whether this parameterization represents a physically relevant spacetime surface.

Answer

To characterize the vectors, we square them
\begin{equation}\label{eqn:reciprocalblog:1080}
a^2 = b^2 =
\gamma_0^2 +
\gamma_1^2 +
\gamma_2^2 +
\gamma_3^2
=
1 – 3
= -2,
\end{equation}
so \( a, b \) are both spacelike vectors. The tangent space is clearly just \( \mbox{Span}\setlr{ a, b } = \mbox{Span}\setlr{ e, f }\) where
\begin{equation}\label{eqn:reciprocalblog:1100}
\begin{aligned}
e &= \gamma_0 + \gamma_2 \\
f &= \gamma_1 + \gamma_3.
\end{aligned}
\end{equation}
Observe that \( a = e + f, b = e – f \), and \( e \) is lightlike (\( e^2 = 0 \)), whereas \( f \) is spacelike (\( f^2 = -2 \)), and \( e \cdot f = 0 \), so \( e f = – f e \). The bivector for the tangent plane is
\begin{equation}\label{eqn:reciprocalblog:1120}
\gpgradetwo{
a b
}
=
\gpgradetwo{
(e + f) (e – f)
}
=
\gpgradetwo{
e^2 – f^2 – 2 e f
}
= -2 e f,
\end{equation}
where
\begin{equation}\label{eqn:reciprocalblog:1140}
e f = \gamma_{01} + \gamma_{21} + \gamma_{23} + \gamma_{03}.
\end{equation}
Because \( e \) is lightlike (zero square), and \( e f = – f e \),
the bivector \( e f \) squares to zero
\begin{equation}\label{eqn:reciprocalblog:1780}
\lr{ e f }^2
= -e^2 f^2
= 0,
\end{equation}
which shows that the parameterization is degenerate.

This parameterization can also be expressed as
\begin{equation}\label{eqn:reciprocalblog:1160}
x(u,v)
= u ( e + f ) + v ( e – f )
= (u + v) e + (u – v) f,
\end{equation}
a linear combination of a lightlike and spacelike vector. Intuitively, we expect that a physically meaningful spacetime surface involves linear combinations spacelike vectors, or combinations of a timelike vector with spacelike vectors. This beastie is something entirely different.

Final notes.

There are a few loose ends above. In particular, we haven’t conclusively proven that the set of reciprocal vectors \( \Bx^\mu = \grad u^\mu \) are exactly those obtained through algebraic means. For a full parameterization of spacetime, they are necessarily the same, since both are unique. So we know that \ref{eqn:reciprocalblog:1920} must equal the reciprocals obtained by evaluating the gradient for a full parameterization (and this must also equal the reciprocals that we can obtain through matrix inversion.) We have also not proved explicitly that the three parameter construction of the reciprocals in \ref{eqn:reciprocalblog:1900} is in the tangent space, but that is a fairly trivial observation, so that can be left as an exercise for the reader dismissal. Some additional thought about this is probably required, but it seems reasonable to put that on the back burner and move on to some applications.

References

[1] Peeter Joot. Geometric Algebra for Electrical Engineers. Kindle Direct Publishing, 2019.

Vector Area

October 13, 2016 math and physics play No comments , , , ,

[Click here for a PDF of this post with nicer formatting]

One of the results of this problem is required for a later one on magnetic moments that I’d like to do.

Question: Vector Area. ([1] pr. 1.61)

The integral

\begin{equation}\label{eqn:vectorAreaGriffiths:20}
\Ba = \int_S d\Ba,
\end{equation}

is sometimes called the vector area of the surface \( S \).

(a)

Find the vector area of a hemispherical bowl of radius \( R \).

(b)

Show that \( \Ba = 0 \) for any closed surface.

(c)

Show that \( \Ba \) is the same for all surfaces sharing the same boundary.

(d)

Show that
\begin{equation}\label{eqn:vectorAreaGriffiths:40}
\Ba = \inv{2} \oint \Br \cross d\Bl,
\end{equation}

where the integral is around the boundary line.

(e)

Show that
\begin{equation}\label{eqn:vectorAreaGriffiths:60}
\oint \lr{ \Bc \cdot \Br } d\Bl = \Ba \cross \Bc.
\end{equation}

Answer

(a)

\begin{equation}\label{eqn:vectorAreaGriffiths:80}
\begin{aligned}
\Ba
&=
\int_{0}^{\pi/2} R^2 \sin\theta d\theta \int_0^{2\pi} d\phi
\lr{ \sin\theta \cos\phi, \sin\theta \sin\phi, \cos\theta } \\
&=
R^2 \int_{0}^{\pi/2} d\theta \int_0^{2\pi} d\phi
\lr{ \sin^2\theta \cos\phi, \sin^2\theta \sin\phi, \sin\theta\cos\theta } \\
&=
2 \pi R^2 \int_{0}^{\pi/2} d\theta \Be_3
\sin\theta\cos\theta \\
&=
\pi R^2
\Be_3
\int_{0}^{\pi/2} d\theta
\sin(2 \theta) \\
&=
\pi R^2
\Be_3
\evalrange{\lr{\frac{-\cos(2 \theta)}{2}}}{0}{\pi/2} \\
&=
\pi R^2
\Be_3
\lr{ 1 – (-1) }/2 \\
&=
\pi R^2
\Be_3.
\end{aligned}
\end{equation}

(b)

As hinted in the original problem description, this follows from

\begin{equation}\label{eqn:vectorAreaGriffiths:100}
\int dV \spacegrad T = \oint T d\Ba,
\end{equation}

simply by setting \( T = 1 \).

(c)

Suppose that two surfaces sharing a boundary are parameterized by vectors \( \Bx(u, v), \Bx(a,b) \) respectively. The area integral with the first parameterization is

\begin{equation}\label{eqn:vectorAreaGriffiths:120}
\begin{aligned}
\Ba
&= \int \PD{u}{\Bx} \cross \PD{v}{\Bx} du dv \\
&= \epsilon_{ijk} \Be_i \int \PD{u}{x_j} \PD{v}{x_k} du dv \\
&=
\epsilon_{ijk} \Be_i \int
\lr{
\PD{a}{x_j}
\PD{u}{a}
+
\PD{b}{x_j}
\PD{u}{b}
}
\lr{
\PD{a}{x_k}
\PD{v}{a}
+
\PD{b}{x_k}
\PD{v}{b}
}
du dv \\
&=
\epsilon_{ijk} \Be_i \int
du dv
\lr{
\PD{a}{x_j}
\PD{u}{a}
\PD{a}{x_k}
\PD{v}{a}
+
\PD{b}{x_j}
\PD{u}{b}
\PD{b}{x_k}
\PD{v}{b}
+
\PD{b}{x_j}
\PD{u}{b}
\PD{a}{x_k}
\PD{v}{a}
+
\PD{a}{x_j}
\PD{u}{a}
\PD{b}{x_k}
\PD{v}{b}
} \\
&=
\epsilon_{ijk} \Be_i \int
du dv
\lr{
\PD{a}{x_j}
\PD{a}{x_k}
\PD{u}{a}
\PD{v}{a}
+
\PD{b}{x_j}
\PD{b}{x_k}
\PD{u}{b}
\PD{v}{b}
}
+
\epsilon_{ijk} \Be_i \int
du dv
\lr{
\PD{b}{x_j}
\PD{a}{x_k}
\PD{u}{b}
\PD{v}{a}

\PD{a}{x_k}
\PD{b}{x_j}
\PD{u}{a}
\PD{v}{b}
}.
\end{aligned}
\end{equation}

In the last step a \( j,k \) index swap was performed for the last term of the second integral. The first integral is zero, since the integrand is symmetric in \( j,k \). This leaves
\begin{equation}\label{eqn:vectorAreaGriffiths:140}
\begin{aligned}
\Ba
&=
\epsilon_{ijk} \Be_i \int
du dv
\lr{
\PD{b}{x_j}
\PD{a}{x_k}
\PD{u}{b}
\PD{v}{a}

\PD{a}{x_k}
\PD{b}{x_j}
\PD{u}{a}
\PD{v}{b}
} \\
&=
\epsilon_{ijk} \Be_i \int
\PD{b}{x_j}
\PD{a}{x_k}
\lr{
\PD{u}{b}
\PD{v}{a}

\PD{u}{a}
\PD{v}{b}
}
du dv \\
&=
\epsilon_{ijk} \Be_i \int
\PD{b}{x_j}
\PD{a}{x_k}
\frac{\partial(b,a)}{\partial(u,v)} du dv \\
&=
-\int
\PD{b}{\Bx} \cross \PD{a}{\Bx} da db \\
&=
\int
\PD{a}{\Bx} \cross \PD{b}{\Bx} da db.
\end{aligned}
\end{equation}

However, this is the area integral with the second parameterization, proving that the area-integral for any given boundary is independant of the surface.

(d)

Having proven that the area-integral for a given boundary is independent of the surface that it is evaluated on, the result follows by illustration as hinted in the full problem description. Draw a “cone”, tracing a vector \( \Bx’ \) from the origin to the position line element, and divide that cone up into infinitesimal slices as sketched in fig. 1.

conevectorareafig1

Fig 1. Cone subtended by loop

The area of each of these triangular slices is

\begin{equation}\label{eqn:vectorAreaGriffiths:160}
\inv{2} \Bx’ \cross d\Bl’.
\end{equation}

Summing those triangles proves the result.

(e)

As hinted in the problem, this follows from

\begin{equation}\label{eqn:vectorAreaGriffiths:180}
\int \spacegrad T \cross d\Ba = -\oint T d\Bl.
\end{equation}

Set \( T = \Bc \cdot \Br \), for which

\begin{equation}\label{eqn:vectorAreaGriffiths:240}
\begin{aligned}
\spacegrad T
&= \Be_k \partial_k c_m x_m \\
&= \Be_k c_m \delta_{km} \\
&= \Be_k c_k \\
&= \Bc,
\end{aligned}
\end{equation}

so
\begin{equation}\label{eqn:vectorAreaGriffiths:200}
\begin{aligned}
(\spacegrad T) \cross d\Ba
&=
\int \Bc \cross d\Ba \\
&=
\Bc \cross \int d\Ba \\
&=
\Bc \cross \Ba.
\end{aligned}
\end{equation}

so
\begin{equation}\label{eqn:vectorAreaGriffiths:220}
\Bc \cross \Ba = -\oint (\Bc \cdot \Br) d\Bl,
\end{equation}

or
\begin{equation}\label{eqn:vectorAreaGriffiths:260}
\oint (\Bc \cdot \Br) d\Bl
=
\Ba \cross \Bc.
\end{equation}

References

[1] David Jeffrey Griffiths and Reed College. Introduction to electrodynamics. Prentice hall Upper Saddle River, NJ, 3rd edition, 1999.

%d bloggers like this: