STUDENT MATHEMATICAL LIBRARY Volume 77 Differential Geometry Curves – Surfaces – Manifolds Third Edition Wolfgang Kühnel Differential Geometry Curves–Surfaces– Manifolds STUDENT MATHEMATICAL LIBRARY Volume 77 Differential Geometry Curves–Surfaces– Manifolds Third Edition Wolfgang Kühnel Translated by Bruce Hunt American Mathematical Society Providence, Rhode Island Editorial Board Satyan L. Devadoss John Stillwell(Chair) Erica Flapan Serge Tabachnikov Translation from German language edition: Differentialgeometrie by Wolfgang Ku¨hnel, (cid:2)c2013 Springer Vieweg | Springer Fachmedien Wies- baden GmbH JAHR (formerly Vieweg+Teubner). Springer Fachmedien is part of Springer Science+Business Media. All rights reserved. Translated by Bruce Hunt, withcorrections and additions by the author. Front and back cover image by Mario B. Schulz. 2010 Mathematics Subject Classification. Primary 53-01. For additional information and updates on this book, visit www.ams.org/bookpages/stml-77 Page 403 constitutes an extension of this copyright page. Library of Congress Cataloging-in-Publication Data Ku¨hnel,Wolfgang,1950– [Differentialgeometrie. English] Differentialgeometry: curves,surfaces,manifolds/WolfgangKu¨hnel;trans- latedbyBruceHunt.—Thirdedition. pagescm. —(Studentmathematicallibrary;volume77) Includesbibliographicalreferencesandindex. ISBN978-1-4704-2320-9(alk.paper) 1.Geometry,Differential. 2.Curves. 3.Surfaces. 4.Manifolds(Mathematics) I.Hunt,Bruce,1958– II.Title. QA641.K9613 2015 516.3(cid:2)6—dc23 2015018451 (cid:2)c 2015bytheAmericanMathematicalSociety. Allrightsreserved. TheAmericanMathematicalSocietyretainsallrights exceptthosegrantedtotheUnitedStatesGovernment. PrintedintheUnitedStatesofAmerica. (cid:2)∞ Thepaperusedinthisbookisacid-freeandfallswithintheguidelines establishedtoensurepermanenceanddurability. VisittheAMShomepageathttp://www.ams.org/ 10987654321 201918171615 Contents Preface to the English Edition ix Preface to the German Edition xi Chapter 1. Notations and Prerequisites from Analysis 1 Chapter 2. Curves in IRn 7 2A Frenet curves in IRn 7 2B Plane curves and space curves 14 2C Relations between the curvature and the torsion 20 2D The Frenet equations and the fundamental theorem of the local theory of curves 27 2E Curves in Minkowski space IR3 33 1 2F The global theory of curves 37 Exercises 50 Chapter 3. The Local Theory of Surfaces 55 3A Surface elements and the first fundamental form 56 3B The Gauss map and the curvature of surfaces 66 3C Surfaces of rotation and ruled surfaces 77 3D Minimal surfaces 96 3E Surfaces in Minkowski space IR3 113 1 v vi Contents 3F Hypersurfaces in IRn+1 122 Exercises 125 Chapter 4. The Intrinsic Geometry of Surfaces 133 4A The covariant derivative 134 4B Parallel displacement and geodesics 140 4C The Gauss equation and the Theorema Egregium 145 4D The fundamental theorem of the local theory of surfaces 152 4E The Gaussian curvature in special parameters 157 4F The Gauss-Bonnet Theorem 165 4G Selected topics in the global theory of surfaces 180 Exercises 192 Chapter 5. Riemannian Manifolds 197 5A The notion of a manifold 198 5B The tangent space 205 5C Riemannian metrics 212 5D The Riemannian connection 218 Chapter 6. The Curvature Tensor 233 6A Tensors 233 6B The sectional curvature 242 6C The Ricci tensor and the Einstein tensor 250 Chapter 7. Spaces of Constant Curvature 265 7A Hyperbolic space 266 7B Geodesics and Jacobi fields 276 7C The space form problem 291 7D Three-dimensional Euclidean and spherical space forms 296 Exercises 306 Chapter 8. Einstein Spaces 309 8A The variation of the Hilbert-Einstein functional 312 8B The Einstein field equations 321 Contents vii 8C Homogenous Einstein spaces 325 8D The decomposition of the curvature tensor 331 8E The Weyl tensor 341 8F Duality for four-manifolds and Petrov types 350 Exercises 358 Solutions to selected exercises 361 Bibliography 391 List of notation 395 Index 397 Preface to the English Edition The German original was intended for courses on differential geome- try for students in the middle of their academic education, that is, in thesecondorthirdyear. IntheAnglo-Americansystemofuniversity education, the contents of this textbook corresponds to an under- graduatecourseinelementarydifferentialgeometry(Chapters1–4), followed by a beginning course in Riemannian geometry (Chapters 5 – 8). This led to the idea of having a translation of the German original into English. I am very glad that the American Mathematical Society supported this project and published the present English version. I thank the translator, Bruce Hunt, for the hard work he had spent on the trans- lation. From the beginning he was surprised by the quantity of text, compared to the quantity of formulas. In addition he had to struggle with complicated and long paragraphs in German. One of the major problems was to adapt the terminology of special notions in the the- ory of curves and surfaces to the English language. Another problem was to replace almost all references to German texts by references to Englishtexts,inparticular, allreferencestoelementarytextbookson calculus, linear algebra, geometry, and topology. Ultimately all these problems could be solved, at least to a certain approximation. The ix