Curvature

The mathematics of Riemannian curvature is presented. The Riemann curvature tensor and its role in parallel transport, in the metric, and in geodesic deviation are expounded at length. We begin by defining the curvature tensor and the torsion tensor by relating them to covariant derivatives. Then the local metric is obtained up to second order in terms of Minkowski metric and curvature tensor. Geometric issues such as the closure or non-closure of parallelograms are discussed. Next, the relation between curvature and parallel transport around a loop is derived. Then we proceed to geodesic deviation. The influence of global properties of the manifold on parallel transport is briefly expounded. The Lie derivative is then defined, and isometries of spacetime are discussed. Killing’s equation and properties of Killing vectors are obtained. Finally, the Weyl tensor (conformal tensor) is introduced.