28.5
GEODESIC
DEVIATION
AND
CURVATURE
913
28.5 GeodesicDeviation
and
Curvature
Geodesics are the straight lines of general manifolds on which, for example, free
particles move.
If
u represents the tangent to a given geodesic, one can say that
V.u
= 0 is the equation of motion of a free particle. In flat spaces, the relative
velocity of any pair of free particles will
not
change, so that their relative accelera-
tion is always zero.
In general, however, due to the effects of curvature, we expect
a nonzero acceleration. Let us elaborate on this.
Consider some. region of the manifold through whose points geodesics can
be drawn iu vatious directions. Concentrate on one geodesic and its neighboring
geodesics. Let
t desiguate the parameter that locates points of the geodesic. Let s
be a continuous parameter that labels different geodesics (see Fignre 28.1). One
can connect the points on some neighboring geodesics corresponding to the same
value of
t and obtain a curve paramettized by s. The collection of all geodesics
that pass through
all points of this curve form a two-dimensionalsubmanifoldwith
coordinates
t and s.Each such geodesic is thus described by the geodesic equation
V.u
= 0 with u =
a/at
(because t is a coordinate). Furthermore, as we hop
from one geodesic to its neighbor, the geodesic eqnationdoes not change; i.e., the
geodesic eqnation is independent
of
s. Translated into the langnage
of
calculus,
this means that differentiation
of
the geodesic equation with respect to s will give
zero. Translated into the higher-level language
of
tensor analysis, it means that
covatiant differentiation of the geodesic equation will yield zero. We write this
final translation as
V.(V.u)=
0 where n es
a/as.
This can also be written as
0=
V.
V.u
=
V.
V.u
+
[V.,
V.lu
=
V.(V.n
+[n, uJ) +[V.,
V.Ju,
where we have used the first property of Theorem28.3.2. Using the fact that n and
u are coordinate frames, we conclude that [n, u] = 0 which in conjnnction with
Equation (28.56) yields
V.
V.n
+R(u,
u)u
=
O.
(28.78)
relative
acceleration
equation
of
geodesic
deviation
The firstterm canbe interpretedas the relativeacceleration
oftwo
geodesiccurves
(or free particles), because
V.
is the generalization of the derivative with respect
to t, and
V.n
is interpreted as relative velocity. In a flat manifold, the relative
acceleration for any pair
of
free particles is zero. When curvature is present, it
produces a nonzero relative acceleration.
By writing u =
u' a, and n = n
k
ak and substituting in Equation (28.78), we
arrive at the
equation
of geodesic deviation in coordinate form:
. . k d
2n
m
d . k j dn
k
. . k
u1uJn
Rijk
=
-2-
+-
(ut
n
r"kj)
+U
df'kj
+u1uJn
rnkjr~i'
dt dt t (28.79)
where we have used the fact that
u'a'f
=
df/dt
for any function defined on the
manifold.