Peter Szekeres‘This book provides an introduction to the major mathematical structures used in physics today, It covers the concepts and techniques needed for topics such as group thenry, Tie algcbras, topology, Hilbert spaces and differential geometry. Important theories of physics, such as classical and quantum mechenies, thermodynamics, and special and general rele- tivity are also developed in detail, and presented in the appropriate mathematical language. The book is suitable for advanced undergraduate and beginning graduate students in ‘mathematical and theoretical physics. It includes numerous exetcises and worked examples to test the reader's understanding of the verious concepts, as well as extending the themes covered in the main text, The only prerequisites are elementary calculus and linear algebra No prior knowledge of group theory, abstract vector spaces or topology is required. Peren Szexenrs received his Ph.D. from King’s College London in 1964. in the area ‘of general relativity, He subsequently held research and teaching positions at Cornell University, King’s College and the University of Adelaide, where he stayed from 1971 ill bis recent retirement. Currently he is visiting research fellow at that institution. Hee is ‘well known internationally for his research mn general relativity and cosmology. and has an ‘excellent reputation for his teaching and lecturing.S2é ‘The Pit Buildin. Trumpington Street, Combed United Kingsom The Fdinburgh Busléing. Cambege CB2 2RL, UK 40 West 20% Street, New York, NY 10011-4211, USA 477 Williamston Read, Poet Melbourne, WIC 3207, Austalis Ru de Alarcon (3, 28014 Madi Spain Dock House, The Waterfiont, Cape Town 8001, South Aen np sew cambridge ong OP Seckeres 2004 “This Book i in copyright Subject to statutory exception and wo the provisions of rolevant collective lcensing dreerens, ‘no reproduction of any part may take place without the whlte permission of Cambridge Livery Press Fast published 204 Printed nthe Uted Kingdom athe University Poss, Cann Typeface Times Now Roman 1/3 pL and Frutiger System ISTEX2¢_ [rm] A catalogue record for this book ts anatlable from she British Library Labrorsof Congress Coteleging im Publication deta Seckeres, Peer 1980 ‘A couse m modern mathematical physics. groups, Hilbert space, and Ufferennal peomeiy / Peter Sekeres, bem Awcludes bbliaraphical references and index. ISBN 0521 82900 7 ISBN 0 521 55685 6 (pb) W Mathematical physics. I Tile (¢20 $968 2008 $30 15 -4e22 2001045675 ISBN 0 $21 82960 7 hardback ISHN 521 94655 6 paperback “The publisher has used its best endesvous to ensure tha the URL for entenal websites referred to in this book sarc correct and active the tm of posto press However the publisher has no resporsibity fr the websites freon male no pharantce that site will remain Inve ota the center soe wall remain appropriateA Course in Modern Mathematical Physics Groups, Hilbert Space and Differential Geometry Peter Szekeres Formerly of University of Adelaide (8 CAMBRIDGE UNIVERSITY PRESSContents Preface Acknowledgements 1 Sets and structures LA Sets and logie 1.2. Subsets, unions and intersections of sets 1.3. Cartesian products and relations 14. Mappings 1.5 Infinite sets 16 Structures 1.7. Category theory 2 Groups 2.1 Elements of group theory 2.2. Transformation and permutation groups 2.3. Matrix groups 2.4 Homomorphisins and isomorphisms 2.5 Normal subgroups and factor groups 2.6 Group actions 2.7 Symmetry groups 3. Vector spaces 3.1 Rings and fields 3.2. Vector spaces 3.3 Vector space homomorphisms 3.4 Veutur subspaces and quotient spaces 3.5. Bases ofa vector space 3.6 Summation convention and transformation of bases 3.7 Dual spaces 4 Linear operators and matrices 4.1 Bigenspaces and characteristic equations 42. Jordan cénonical form page ix xiii 27 27 30 35 4 45 49 52 59 9 60 63 «6 nm al 88 107Contents. 43 Linear ordinary differential equetions 44 Introduction to group representation theory 5 Inner product spaces 5.1 Real inner product spaces 52 Complex inner product spaces 53. Representations of finite groups 6 Algebras G1 Algebras and ideals 6.2 Complex numbers and complex structures 6.3 Quaternions and Clifford algebras 64 Girassmann algebras 65 Liealgebras and Lie zroups 7 Tensors 7.1 Free vector spaces and tensor spaces 7.2 Multilinear maps and tensors 7.3 Basis representation of tensors 7.4 — Operations on tensors 8 Exterior algebra 8.1 r-Veetors and forms 82 Basis representation of r-vectors 83° Exterior product 84 Interior product 85 Oriented vector spaces 86 The Hodge dual 9 Special retativity 9.1. Minkowski space-time 9.2 Relativistic kinematics 93. Particle dyncinies 94 Flectrodynami 95 Conservation laws and energy stress tensors 10 ‘Topotogy 10.1 Euclidean topology 10.2 General topotogical spaces 10.3. Metric spaces 10.4 Induced topologies 10.5 Hausdorff spaces 10.6 Compact spaces 16 120 126 126 133 “1 49 149 152 157 160 166, 178 v8 186 193 198 204 204 206 208 213 215 220 228 228 235 239 244 251 255 255 257 264 265 m‘Contents 2 14 15 16 10.7 Connected spaces 10.8 “Topological groups 10.9 Topological vector spaces Measure theory and integration 111 Measurable spaces znd functions 11.2 Measure spaces 113° Lebesgue integration Distributions 12.1 Test functions and distributions, 12.2 Operations on distributions 12.3 Fourier transforms 124. Green's functions Hilbert spaces 7 13.1 Definitions and examples 13.2 Expansion theorems 13.3 Linear functionals 13.4 Bounded linear operetors 13.5 Spectral theory 13.6 Unbounded operators Quantum mechanics 14.1 Basic concepts 142 Quantum dynamies 143. Symmetry transformations 144 Quantum statistical mechanics Differential geometry 15.1. Differentiable manifolds 15.2. Differentiable maps and curves 15.3 Tangent, cotangent and tensor spaces 15.4 Tangent map and submanifolds 15.5 Commutators, flows and Lie derivatives 15.6. Distributions and Frobenius theorem Differentiable forms 161 Differential forms and exterior derivative 16.2 Properties of exterior derivative 16.3 Frobenius theorem: dual form 164. Thermodynamics 16.5. Classival mechanies 273 26 279 287 287 292 301 34 320 323 330 330 335 341 344 351 397 366 366 379 387 397 410 aun ais, a7 426 432 440 447 447 451 434 457 464 vilContents 17 Integration on manifolds 481 17.1 Partitions of unity 482 17.2. Integration of »-forms 484 17.3. Stokes’ theorem 486 17.4 Homology and cohomology 493 175 The Pomncaré tema 500 18 Connections and curvature 506 18.1 Linear connections and geodesies 506 182. Covariant derivative of tensor fields 510 183 Curvature and torsion si 184. Pseudo-Riemannian manifolds 516 18.5. Equation of geodesic deviation 522 186 ‘The Riemann tensor and its symmetries 524 18.7 Cartan formalism 927 188 General relativity 534 18.9 Cosmology 548 18.10 Veriation principles in space-time 553 19 Lie groups and Lie algebras 559 19.1 Lie groups 559 19.2. The exponential map 564 19.3. Lie subgroups 569 19.4 Lic groups of transformations 372 19.5 Groups of isometries 578 Bibliography S87 Index 580Preface After some twenty years of teaching different topics in the Department of Mathematical Physics at the University of Adelaide I conceived the rather foolhardy project of putting all my undergraduate notes together in one single volume under the title Mathematical Physics. This undertaking tumed out to be considerably more ambitious than | had originally expected, and it was not until my recent retirement that L found the time to complete it ‘Over the years I have sometimes found myselt in the midst of a vigorous and at times quite acrimonious debate on the difference between theoretical and mathematical physics. This book is symptomatic of the difference. | believe that mathematical physicists put the ‘mathematies first, while for theoretical physicists it is the physics which is uppermost. The latter seck out those areas of mathematics for the use they may be put to. while the former have a more unified view of the two disciplines. | don’t want to say one ts better than the other it is simply a different outlook. ti the big scheme of things both have their place but, as this book no doubt demonstrates, my personal preference 1s to view mathematical physics as a branch of mathematics, ‘The classical texts on mathematical physics which | wes originally brought up on, such as Morse and Feshbach [7], Courant and Hilbert [1]. and Jeffreys and Jeftreys [6] are ¢3- sentially books on differential equations and linear algebra. The flavour of the present book. is quite different. It follows much more the tines of Choquet-Brubat, de Witt-Morette and Dillara-Ricick [14] and Geroch [3], in which mathematical strictures rather than mathemat- ical analysis isthe main thrust. Of these two books. the formeris possibly a litle daunting as, ‘an introductory undergraduate text. while Geroch’s book, written in the author's inimitably ‘delightful lecturing style, has occasional tendencies to cverabstraction. {resolved therefore to write @ book which covers the material of these texts, assumes no more mathematical knowledge than elementary calculus and hincar alecbra, and demonstrates cleatty how theo- ries of modem physies fit into various mathematical structures, How well I have succeeded, must be left fo the reader to judge At times | have been caught by surprise at the natural development of ideas inthis book For example, how is it that quantum mechanics appears before classical mechanics? The rezson is certainly not on historical grounds. In the natural organization of mathematical ideas, algebraic structures appear before geometrical or topological structures, and linear structures are evidently simpler than non-fineer. From the point of view of mathematical simplicity quantum mechanics, being @ purely linear theory in 2 quasi-alaebraic space (Hilbert space), 1s more elementary than classical mechanes, which can be expressed in