DIFFERENTIAL AND RIEMANNIAN GEOMETRY by DETLEF LAUGWITZ ‘Professor of Mathematics Technische Hochschule Darmstadt Germany Translated by Fritz Steinhardt The City College The City University of New York New York 1965 @ ACADEMIC PRESS New York San Francisco London A Subsidiary of Harcourt Brace Jovanovich, PublishersCopyriGHTt © 1965, py ACADEMIC Press, INC. ALL RIGHTS RESERVED NO PART OF THIS BOOK MAY BE REPRODUCED IN ANY FORM, BY PHOTOSTAT, MICROFILM, RETRIEVAL SYSTEM, OR ANY OTHER MEANS, WITHOUT WRITTEN PERMISSION FROM THE PUBLISHERS. ACADEMIC PRESS, INC. 111 Fifth Avenue, New York, New York 10003 United Kingdom Edition published by ACADEMIC PRESS, INC. (LONDON) LTD. 24/28 Oval Road, London NW1 Lrprary OF ConcREss CATALOG CaRD NUMBER: 64-21670 PRINTED IN THE UNITED STATES OF AMERICA FIRST PUBLISHED IN THE GERMAN LANGUAGE UNDER THE TITLE Differentialgeometrieé AND COPYRIGHTED IN 1960 BY B. G. TEUBNER, VERLAGSGESELLSCHAFT, STUTTGART.Preface to the German Edition This textbook is intended to be an introduction to classical differential geometry as well as to the tensor calculus and to Riemannian geometry. The material it contains should fit into a two-semester course at the upper college or first-year graduate level. A systematic development has been aimed at, but the author also believes hopefully that none of the more important special theorems will be found missing. To be sure, Chapter I on the Theory of Curves serves mainly as a preparation for the later chapters. Thus the reader interested especially in the theory of curves for its own sake is also referred to any of the numerous textbooks on this particular sub- discipline.* The tensor calculus has been used consistently. Its notation is introduced even in the theory of surfaces (Chapter II), so that for the subsequent definition of tensors and their operations (in Chapter III), concrete instances are immediately available. The advantages of the tensor calculus lie in its great generality, in the greater transparency of its notation as compared to the Gaussian notation still in frequent use, and in the immediate applicability to the special problem of formulas written in tensor notation. The author does not agree with the frequently voiced objection that equa- tions in tensor notation are not “‘written in invariant form’ (see III 8.5). For lack of space, no account is given of the calculus of differential forms, which is an occasionally useful but not sufficiently general abbreviated form of a part of the tensor calculus. However, anyone who has acquired a sufficient familiarity with the tensor calculus will be able to handle this. Also in Chapter III, we treat the elements of Riemannian geometry, which owes its existence to the requirements of a systematic development of the intrinsic (inner) geometry of surfaces. Consequently there is still much material on the theory of surfaces to be found in Chapter III, as well as in the following Chapter IV. In the latter will be found some results that have not previously been available in textbooks, or in book form generally. * For instance, Volume I of the two-volume work by G. Scheffers: “Anwendungen der Differential- und Integralrechnung auf Geometrie,” 3rd ed., Berlin and Leipzig, 1923; or the works of J. Edwards: “Differential Calculus,” 2nd ed., London, 1896, and Volume I of his treatise on the “Integral Calculus with Applications,”’ 2nd ed., London, 1930 (reprinted, New York, 1954).