Einstein Field Equations
Bianchi identity
Previously, we have defined the Riemann curvture tensor as Rαβμν:=Γαβν,μ−Γαβμ,ν+ΓασμΓσβν−ΓασνΓσβν. Substitute Γαμν,σ=12gαβ(gβμ,νσ+gβν,μσ−gμν,βσ), we have Rαβμν=12gασ(gσν,βμ−gσμ,βν+gβμ,σν−gβν,σμ). Lowering an index, Rαβμν=gαλRλβμν=12(gσν,βμ−gαμ,βν+gβμ,σν−gβν,σμ). Since the metric tensor is symmetric and partial derivatives commute, Rαβμν,λ+Rαβλμ,ν+Rαβνλ,μ=0. Since a manifold is locally flat, if locally the partial derivative is zero, then so is the covariant derivative, i.e. Rγβγδ;ϵ+Rγβϵγ;δ+Rγβδϵ;γ=0
Contraction of Bianchi Identity
Since Riemann tensor is antisymmetric, Rγβγδ;ϵ−Rγβγϵ;δ+Rγβδϵ;γ=0Rβδ;ϵ−Rβϵ;δ+Rγβδϵ;γ=0gβδ(Rβδ;ϵ−Rβϵ;δ+Rγβδϵ;γ)=0Rδδ;ϵ−Rδϵ;δ−Rγδδϵ;γ=0Rδδ;ϵ−2Rγϵ;γ=0(Rγϵ−12gγϵR);γ=0gβδ(Rγϵ−12gγϵR);γ=0(Rγδ−12gγδR);γ=0. This is the "equation of motion" for a locally flat manifold.
Hilbert Action
Write down the action as S=∫VR√−gd4x. Under general coordinate transformation, δS=∫Vδ(R√−g)d4x
δ(R√−g)=δ(gμνRμν√−g)=(δgμν)Rμν√−g+gμν(δRμν)√−g+gμνRμν(δ√−g)=(δgμν)Rμν√−g+gμν(δRμν)√−g+R(δ√−g). By δ√−g=−12√ggμνδgμν, δ(R√−g)=(Rμν−12gμνR)√−g(δgμν)+gμν√−g(δRμν)
By the definitions, the Riemann Tensor is Rαμσν=(Γαμν,σ−Γαμσ,ν+ΓασγΓγμν−ΓανγΓγμσ) and the Ricci Tensor is Rμν=Rαμαν=Γαμν,α−Γαμα,ν+ΓααγΓγμν−ΓανγΓγμα. So, δRμν=δΓαμν,α−δΓαμα,ν+δΓααγΓγμν+ΓααγδΓγμν−δΓανγΓγμα−Γανγ(δΓγμα). The covariant derivative of the delta Christoffel symbol is given by (δΓρνσ);μ=(δΓρνσ),μ−(δΓρλσ)Γλνμ−Γγσμ(δΓρνλ)+(δΓλνσ)Γρλμ. Therefore, (δΓαμα);ν=(δΓαμα),ν−(δΓαγα)Γγμν−Γγαν(δΓαμγ)+(δΓγμα)Γαγν, where the first, second and fourth term is the negation of second, third and sixth term of (1) respectively, and (δΓαμν);α=(δΓαμν),α−(δΓαγν)Γγμα−Γγνα(δΓαμγ)+(δΓγμν)Γαγα, where the first, second and fourth term is the first, fifth and fourth term of (1) respectively. Also, the third term of (2) and (3) are the same. Thus, (3) minus (2) gives (1) δRμν=(δΓαμν);α−(δΓαμα);ν. Hence, gμνδRμν√−g=gμν((δΓαμν);α−(δΓαμα);ν)√−g=[(gμνδΓαμν);α−(gμνδΓαμα);ν]√−g=(gμνδΓαμν−gμαδΓνμν);α√−g, in which dummy variables α↔ν changed on last line. Define Aα:=gμνδΓαμν−gμαδΓνμν. Then, the integral becomes ∫VgμνδRμν√−gd4x=∫VAα;α√−gd4x. By divergence theorem, ∫VgμνδRμν√−gd4x=∮Aαnα√−gd3S. As boundary terms can be eliminated by redefining the Hilbert action, we can take this term to be zero ∫gμνδRμν√−gd4x=0. So, the invariance of the action yields (Rμν−12gμνR)=0, which is definitely zero upon convariant derivative.
The action is called the Hilbert action. We see that Hilbert action defined in this way reproduces the contracted Bianchi identiy, the "equation of motion" of a locally flat manifold.
Einstein-Hilbert Action
We write the whole action together with the matter field Lagrangian, S=∫V[12KR+LM]√−gd4x, where LM is some matter fields and K is some constant to make the dimension right. Under general coordinate transformation, δS=∫Vδ([12KR+LM]√−g)d4x.
δ(LM√−g)=1√−gδ(√−gLM)δgμν(δgμν√−g) If we define the stress energy tensor as Tμν:=−2√−gδ(√−gLM)δgμν, the invariance of the action under general coordinate transformation yields, Rμν−12gμνR−KTμν=0. This is called the Einstein field equations (EFE). Then, by conservation of energy-momentum, ∇Tμν;ν=0, (Rμν−12gμνR);ν=KTμν;ν=0. So, defining the stress energy tensor in this way yields the "equation of motion" of a locally smooth manifold. EFE relates how energy-momentum curves the manifold. We will find K later using Newtonian limit.
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