where the prefactor is convention and sets a mass or energy scale while the minus
sign is needed because in Minkowski’s metric, as just shown, the integral has a
maximum but no minimum. It yields the Lagrange function L ¼mc
2
ð1 ðv=cÞ
2
Þ
1=2
, where v is the velocity of the particle. In general geometric terms
this action means that the world line of the particle is a geodesic in the Minkowski
space, which is a straight line.
However, if a force acts on the particle, its motion is accelerated, and it turns
out that, if the force is that of a gravitational field, all accelerations of all particles
passing a region where the field has a certain value (measured statically by means
of a spring-balance) are the same independent of the particle mass. Exactly the
same way force-free particle motions are seen by an accelerated observer, that is, if
the particle coordinates are described with respect to an accelerated frame.
Because these two situations are indistinguishable and (9.74) is invariant under
mere changes of the coordinates, the same action (9.76) must describe the motion
of a particle under the action of a gravitational field, while the metric tensor g
lm
now may be much more general than in the case of use of mere general coordinates
in the above discused case of absence of gravitation. Hence, the world line of a
particle in a gravitational field is still a geodesic, but now in a more general metric.
If one takes the geodesic arc length s as curve parameter, the equation of motion is
d
2
x
k
ds
2
þ
X
3
lm¼0
C
k
lm
dx
l
ds
dx
m
ds
¼ 0; ð9:77Þ
with the Christoffel symbols C
k
lm
of the Riemannian connection of the metric
tensor g now describing the action of the gravitational field. The Christoffel
symbols are obtained from derivatives of the metric tensor with respect to the
coordinates, hence the metric tensor itself may be viewed as forming gravitational
potentials.
Since coordinates are now arbitrary and cannot have any more an immediate
physical meaning, their relation to time intervals and distances in ordinary space
must be analyzed. In this section, systematically Latin tensor indices run from 1 to
3, Greece indices run from 0 to 3, and t means the physical time, that is the proper
time of a material entity. Although a consequent covariant formulation of physical
laws as used in the theory of gravitation would tolerate the use of completely
arbitrary (smooth) coordinate systems, every point of physical space time is the
apex of a cone of future and of a cone of past, and the convention is reasonable to
use only coordinate systems where the coordinate line for x
0
runs from the past to
the future while the coordinate lines of x
i
are outside of the cones. Such coordi-
nates may be realized by material constructions (sample holders and clocks). If in
such a case dx
i
¼ 0, then ds
2
¼ g
00
ðdx
0
Þ
2
¼ðcdtÞ
2
, and
dt ¼
1
c
ffiffiffiffiffiffiffiffiffiffiffiffi
g
00
ðxÞ
p
dx
0
; t ¼
1
c
Z
ffiffiffiffiffiffiffiffiffiffiffiffi
g
00
ðxÞ
p
dx
0
; g
00
ðxÞ[ 0; ð9:78Þ
328 9 Riemannian Geometry