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Differential Geometry Notes

This document provides definitions and theorems related to tangent spaces and differentials of manifolds: 1) The tangent space at a point p on a manifold M, denoted TpM, is defined as the equivalence classes of curves in M centered at p, where two curves are equivalent if they have the same derivative at p under local coordinates. 2) TpM can be given the structure of a vector space by identifying it with Rn via a chart map. 3) Each element of TpM corresponds to a derivation on the algebra of germs of smooth functions on M at p, and vice versa, showing TpM is isomorphic to the vector space of derivations.

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Sanjeev Shukla
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60 views

Differential Geometry Notes

This document provides definitions and theorems related to tangent spaces and differentials of manifolds: 1) The tangent space at a point p on a manifold M, denoted TpM, is defined as the equivalence classes of curves in M centered at p, where two curves are equivalent if they have the same derivative at p under local coordinates. 2) TpM can be given the structure of a vector space by identifying it with Rn via a chart map. 3) Each element of TpM corresponds to a derivation on the algebra of germs of smooth functions on M at p, and vice versa, showing TpM is isomorphic to the vector space of derivations.

Uploaded by

Sanjeev Shukla
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Math 598 Feb 2, 20051

Geometry and Topology II


Spring 2005, PSU

Lecture Notes 5

2.2 Definition of Tangent Space


If M is a smooth n-dimensional manifold, then to each point p of M we may
associate an n-dimensional vector space Tp M which is defined as follows. Let
Curvesp M := { α : (−, ) → M | α(0) = p }
be the space of smooth curves on M centered at p. We say that a pair of
curve α, β ∈ Curvesp M are tangent at p, and we write α ∼ β, provided that
there exists a local chart (U, φ) of M centered at p such that
(φ ◦ α) (0) = (φ ◦ β) (0).
Note that if (V, ψ) is any other local chart of M centered at p, then, by the
chain rule,
(ψ ◦ α) (0) = (ψ ◦ φ−1 ◦ φ ◦ α) (0)
   
= (ψ ◦ φ−1 ) (φ(α(0)) ◦ (φ ◦ α) (0)
   
= (ψ ◦ φ−1 ) (φ(β(0)) ◦ (φ ◦ β) (0)
= (ψ ◦ β) (0).
Thus ∼ is well-defined, i.e., it is indpendent of the choice of local coordinates.
Further, one may easily check that ∼ is an equivalence relation. The set of
tangent vectors of M at p is defined by
Tp M := Curvesp M/ ∼ .
Next we describe how Tp M may be given the structure of a vector space.
Let (U, φ) denote, as always, a local chart of M centered at p, and recall that
n = dim(M ). Then we define a mapping f : Tp M → Rn by
φ∗ ([α]) := (φ ◦ α) (0).
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Last revised: February 6, 2005

1
Exercise 1. Show that the above mapping is well-defined and is a bijection.
Since φ∗ is a bijection, we may use it to identify Tp M with Rn and, in
particular, define a vector space structure on Tp M . More explicitly, we set
 
[α] + [β] := φ−1
∗ φ∗ ([α]) + φ∗ ([β]) ,
and  
λ[α] := φ−1
∗ λφ∗ ([α]) .

2.3 Derivations
Here we give a more abstract, but useful, characterization for the tangent
space of a manifold, which reveals the intimate connection between tangent
vectors and directional derivatives.
Let C ∞ (M ) denote the space of smooth functions on M and p ∈ M . We
say that two functions f, g ∈ C ∞ (M ) have the same germ at p, and write
f ∼p g, provided that there exists an open neighborhood U of p such that
f |U = g|U . The reslting equivalence classes then defines the space of germ of
smooth functions of M at p:
Cp (M ) := C ∞ M/ ∼p .
Note that we can add and multiply the elements of Cp M in an obvious way,
and with respect to these operations one may easily check that Cp (M ) is an
algebra over the field of real numbers R.
We say that a mapping D : Cp (M ) → R is a derivation provided that D
is linear and satisfies the Leibnitz rule, i.e.,
D(f g) = Df · g(p) + f (p) · Dg
for all f , g ∈ Cp (M ). If D1 and D2 are a pair of such derivations, then we
define their sum by (D1 + D2 )f := D1 f + D2 f , and for any λ ∈ R, the scalar
product is given (λD)f := λ(Df ).
Exercise 2. Show that the set of derivations of Cp M forms a vector space
with respect to the operations defined above.
Note that each element X ∈ Tp M gives rise to a derivation of Cp (M ) if,
for any f ∈ Cp (M ), we set
Xf := (f ◦ αX ) (0),

2
where αX : (−, ) → M is a curve which belongs to the equivalence class
denoted by X, i.e., X = [αX ].

Exercise 3. Check that Xf is well-defined and is indeed a derivation.

A much less obvious fact, whose demonstrationis the main aim of this
section, is that, conversely, every derivation of Cp (M ) corresponds to (the
directional derivative determined by) a tangent vecor. More formally, if Dp M
denotes the space of derivations of Cp M , then

Theorem 4. Tp M is isomorphic to Dp M .

The rest of this section is devoted to the proof of the above result. To this
end we need a pair of lemmas. Let 0 ∈ Cp (M ) denote the constant function
zero, i.e. 0(p) := 0.

Lemma 5. If f ∈ Cp M is a constant function, then Df = 0, for any D ∈


Dp M .

Proof. First note that, since f is constant, say f (p) = λ,

D(f ) = D(f · 1) = D(λ · 1) = λD(1),

where 1 denotes the constant fucntion 1(p) = 1. Further,

D(1) = D(1 · 1) = D(1) · 1 + 1 · D(1) = 2D(1).

Thus D(1) = 0, which in turn yields that D(f ) = 0.

Lemma 6. Let f : Rn → R be a smooth function. Then, for any p ∈ Rn ,


there exist smooth functions g i : Rn → R, i = 1, . . . , n, such that
∂f
g i (p) = (p),
∂xi
and

n
f (x) = f (p) + g i (x)(xi − pi ).
i=1

3
Proof. The fundamental theorem of calculus followed by chain rule implies
that
 1
d
f (x) − f (p) = f (tp + (1 − t)x)dt
0 dt
 1
∂f 
n
=  (xi − pi )dt
0 i=1 dx i tp+(1−t)x

 ∂f 
n 1
=  dt(xi − pi ).
i=1 0
dxi tp+(1−t)x

So we set  1
∂f 
i
g (x) :=  dt.
0 dxi tp+(1−t)x

Now we are ready to prove the main result of this section


Proof of Theorem 4. Recall that if (U, φ) is a local chart of M centered at p,
then the mapping [α] → (φ ◦ α) (0) is an isomorphism between Tp M and Rn .
Similarly, f → f ◦ φ−1 is an isomorphism between Cp M and Co Rn , which
yields that Dp M is isomorphic to Do Rn . So it remains to show that Do Rn
is isomorphic to Rn .
Let xi : Rn → R, given by xi (p) := pi , be the coordinate functions of Rn .
It is easy to check that the mapping
F
Do Rn  D −→ (Dx1 , . . . , Dxn ) ∈ Rn
is a homomorphism. Furhter, F is one-to-one because, by the previous lem-
mas,
n n
∂f
Df = 0 + (Dg · x (o) + g (o) · Dx ) =
i i i i
(o)Dxi .
i=1 i=1
∂x i

In particular, knowledge of Dxi uniquely determines D. Finally it remains to


show that F is onto. To this end note that to each X = (X 1 , . . . , X n ) ∈ Rn ,
we may assign a derivation of Cp Rn given by
 ∂ 
n
DX := Xi  .
i=1
∂xi x=o

Then one may quickly check that F (DX ) = X.

4
Exercise 7. Show that any local chart (U, φ) of M centered at p determines
a basis E1φ , . . . Enφ for Tp M as follows. For every f ∈ Cp M , set:

∂(f ◦ φ−1 )
Eiφ f := (o).
∂xi

2.4 The differential map


Let f : M → N be a smooth map, and p ∈ M . Then the differential of f at
p is the mapping dfp : Tp M → Tf (p) N given by

dfp ([α]) := [f ◦ α].

Exercise 8. Show that if f : Rn → Rm and we identify Tp Rn and Tf (p) Rm


with Rn and Rm respectively in the standard way (i.e., via the mapping [α] →
α (0)) then dfp may be identified with the linear transformation determined
by the jacobian matrix (∂f i /∂xj ) (in particular, dfp is a generalization of the
standard derivative Df (p) of maps between Euclidean spaces).

Using the characterization of Tp M as the space of derivations over the


germ of smooth functions of M at p, one may give an alternative definition
of dfp as follows. Given X ∈ Tp M , we define

dfp (X) g := X(g ◦ f ),

for any g ∈ Cf (p) N . Thus dfp (X) ∈ Df (p) N  Tf (p) N . Note that if X = [α],
then
X(g ◦ f ) = (g ◦ f ◦ α) (0) = [f ◦ α]g.
Thus the two definitions of dfp presented above are indeed equivalent. Using
the second definition, one may immediately check that dfp is a homomor-
phism. Another fundamental property is:

Exercise 9 (The chain rule). Show that if f : M → N and g : N → L are


smooth maps, then, for any p ∈ M ,

d(g ◦ f )p = dgf (p) ◦ dfp .

We say f : M → N is a diffeomorphism if f is a homeomorphism, and


f and f −1 are smooth. If there exists a diffeomorphism between a pair of
manifolds we say that these manifolds are diffeomorphic.

5
Exercise 10. Show that if f : M → N is a diffeomorphism, then dfp is an
isomorphism for all p ∈ M . In particular, conclude that if M and N are
diffeomorphic, then dim(M ) = dim(N ).

Note that the last statement if the above exercise also follows from the
standard fact in Algebraic topology that Rn and Rm are homemorphic only
if m = n. However, this fact is consequence of homology theory, whereas
the above exercise rests only on the basic properties of the differential map.
Many results in algebraic toplogy admit more transparent or elegant proofs
if one can make use of a differential structure.

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