Andrew Pressley Department of Mathematics, King’s College, The Strand, London WC2R 2LS, UK erin some reprecedy Kind prion of ‘Sch Spent Poe of be GaUS Mather and Sot yen 2380 SE, Kent Kangley Road, Male Vall, WA SHO, ‘USA. 7 (20) a3. 55 ac G08) 09-782 ena nape om URL: mreapich am ‘rican ta Asotin Chance Vol No 1S ardebyKSand KW Hee Tree ings fh None Shana’ page 32 et te eee etme oe ry Soar Macy Breen Se "iksrved Matec Volo of Matematica Op’ page 9g Leona puabel es CD SOM Maxtrwed Maint Oy TELOS:1SBNO.87- 22-4 gran edn by BisOwter IN SEARO Mabe a Ecaonwd Resech Vola lsse3 159i Rcd) Gein nd Karur Nie rai gineering wth Cellar “Avcrat page 38 Ra? Mathers in Bacon aed Rarer Vl Ste? 1986 aril by Ml Tr The piano of «Tee aor page Mahenaern can and Reseach Vols nau 2196 wy eed aa 'Coin Tre Dgs nd Bes Sn ofthe Boar Poe- ‘as pug og 3.Matienaica in Econ ond Rear Vl be 156 wide by Ricard Gard nd Kare Mabe Conan Sjeendng page 3 6 -Mthematein Education and Renearh Va ua 21998 are by Jou Buble and Stan Wagon ‘eres othe ‘Madeng Cone page 50% Springer Undergraduate Mathematics Series ISSN 1615-2085 ISBN 1-85233-152-6 Springer-Verlag London Berlin Heidelberg British Library Cataloguing in Publication Data ‘A catalogue record for this book is available from the British Library Library of Congress Cataloging-in-Publication Data Pressley, Andrew ‘Hlementary differential geometry / Andrew Pressley. p. cin. ~ (Springer undergraduate mathematics series, ISSN 1615-2085) Includes index. ISBN 1-85233-152-6 (alk. paper) 1. Geometry, Differential, 1. Title. 1, Series. QAG4t P68 2000 516.86 —de2! 90-058345 Apart from any fair dealing for the purposes of research ot private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, ot in the case of reprographic reproduction in accordance with the tetris of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. © Springer-Verlag London Limited 2001 Printed in Great Britain "The use of registered names, trademarks ete, in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use, ‘The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or lability for any errors or omissions that may be made, etting: Camera ready by author Printed and bound at the Athenseum Press Lid., Gateshead, Tyne & Wear 12/3830-543210 Printed on acid-free paper SPIN 10711768Preface The Differential Geometry in the title of this book is the study of the geometry of curves and surfaces in three-dimensional space using calculus techniques. ‘This topic contains some of the most beautiful results in Mathematics, and yet most of them can be understood without extensive background knowledge. Thus, for virtually all of this book, the only pre-requisites are a good working knowledge of Calculus (including partial differentiation), Vectors and Linear Algebra (including matrices and determinants), ‘Many of the results about curves and surfaces that we shall discuss are pro- totypes of more general results that apply in higher-dimensional situations. For example, the Gauss~Bonnet theorem, treated in Chapter 11, is the prototype of a large number of results that relate ‘local’ and ‘global’ properties of geometric objects, The study of such relationships has formed one of the major themes of 20th century Mathematics. ‘We want to emphasise, however, that the methods used in this book are not necessarily those which generalise to higher-dimensional situations. (For readers in the know, there is, for example, no mention of ‘connections’ in the remainder of this book.) Rather, we have tried at all times to use the simplest, approach that will yield the desired results. Not only does this keep the pre- requisites to an absolute minimum, it also enables us to avoid some of the conceptual difficulties often encountered in the study of Differential Geometry in higher dimensions. We hope that this approach will snake this beautiful subject accessible to a wider audience. It is a cliché, but true nevertheless, that Mathematics can be learned only by doing it, and not just by reading about it. Accordingly, the book contains vvl Elementary Differential Geometry over 200 exercises. Readers should attempt as many of these as their stamina permits. Full solutions to all the exercises are given at the end of the book, but these should be consulted only after the reader has obtained his or her own solution, or in case of desperation, We have tried to minimise the number of instances of the latter by including hints to many of the less routine exercises.