MECANIQUE ANALYTIQUE Srie 2 e

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Exercice 1. Show that the two-sphere S 2 is a smooth manifold giving an atlas for it. Corrig exercice 1. Let S 2 be the unit sphere in R3 and N = {0, 0, 1}, S = {0, 0, 1} the North e and South poles. We can cover S 2 by two open sets UN = S 2 \{N } and US = S 2 \{S}, and associate to them the charts N,S : UN,S R2 given by N (x, y, z) = S (x, y, z) = x y , 1z 1z x y , 1+z 1+z

Note that N (UN US ) = S (UN US ) = R2 \0. Then the transition map SN = S 1 : N N (UN US ) S (UN US ) is given by
N (x, y)

2x 2y x2 + y 2 1 , 2 , 2 x2 + y 2 + 1 x + y 2 + 1 x + y 2 + 1 SN (x, y) =

x2

x y , 2 x2 + y 2 +y

so x2 y x , 2 x2 + y 2 +y

which is a C dieomorphism in R2 \ {0}. Exercice 2. Let f : S 2 R be dened by f (x, y, z) = z. Compute df relative to spherical coordinates (, ). Corrig exercice 2. The coordinates (x, y, z) of a point p S 2 are expressed in spherical coordinates e by x = sin cos , y = sin sin , z = cos . Thus, in the chart (, ) given by spherical coordinates, f has the expression f (, ) = cos . Therefore, df = sin d. Exercice 3. If t : S 2 S 2 rotates points on S 2 about a xed axis through an angle t, show that t is the ow of a certain vector eld on S 2 . Corrig exercice 3. Let (, ) be the standard spherical coordinates on S 2 , as in the previous e exercise. Then t (, ) = (, + t) which is the solution of the system of ordinary dierential equations = 0, = 1 with initial condition (0) = , (0) = . Thus, / is the desired vector eld in this chart. Globally, this vector eld is dened by assigning at each point p S 2 the tangent vector that is aligned with the parallel of latitude passing through p and has euclidean length sin . Alternatively, let a be a unit vector along the direction of the given axis of rotation and take the restriction of the vector eld X on R3 given by X(x) = a x to the sphere.
1

Exercice 4. Let : R R be given by (x, y, z) = (x + z, xy). Compute T(x,y,z) . Is an immersion? Is a submersion?. Find the sets of critical points and critical values of .
3 2

Corrig exercice 4. The derivative of at (x, y, z) is dened through its action on vectors tangent e to R3 at (x, y, z). Every such vector can be written as (a, b, c) R3 . For (a, b, c) we consider the curve c(t) R3 given by c(t) = (x + ta, y + tb, z + tc). Then c(0) = (x, y, z) and c(0) = (a, b, c). By the denition of the derivative of at (x, y, z) we have T(x,y,z) (a, b, c) = d |0 (c(t)) = (a + c, xb + ya), dt

which is a tangent vector to R2 at f (x, y, z) = (x + z, xy). The kernel of T(x,y,z) varies from point to point. (1) (2) (3) (4) If If If If x = y = 0, ker T(x,y,z) = {(a, b, c) : a = c}. x = 0, y = 0, ker T(x,y,z) = {(a, b, c) : a = c = 0}. x = 0, y = 0, ker T(x,y,z) = {(a, b, c) : a = c, b = 0}. x = 0, y = 0, ker T(x,y,z) = {(a, b, c) : a = c, b = yc/x}.

At points of the form (0, 0, z), ker T(x,y,z) is two dimensional. At points such that (x, y) = (0, 0), ker T(x,y,z) is one dimensional. Then T(x,y,z) is never injective, and hence is not an immersion. If (x, y) = (0, 0) then T(x,y,z) is surjective, since every vector (, ) R2 can be written as = a + c, = ay + bx for some (a, b, c) R3 . However, on the axis x = y = 0, the image of T(x,y,z) is of the form (, 0) for any R. Therefore T(x,y,z) fails to be surjective at points of the form (0, 0, z) and hence is not a submersion. The set C of critical points of is by denition the set where T(x,y,z) is not surjective. By our previous result C is the z-axis in R3 . The set of critical values of is V = (C) which is the y = 0 axis in R2 . Exercice 5. Show that (1) S 2 is a smooth submanifold of R3 of dimension 2. (2) The group SL(2, R) is a smooth submanifold of M (2, R) (the space of 2 2 real matrices) of dimension 3.

Corrig exercice 5. e (1) R3 is a three dimensional smooth manifold with an atlas given by a single global chart as follows. Choose a basis in R3 and dene : R3 R3 by (x) = (x1 , x2 , x3 ) for any x in R3 and where x1 , x2 , x3 are the components of x with respect to the chosen basis. Let the smooth function f : R3 R be dened as f (x) = x 2 . We show now that 1 is a regular value of f . For any v R3 (seen as a tangent vector to R3 at x), Let x f 1 (0). Then x = 0 by non-degeneracy of the Euclidean norm. Analogously, Tx f (v) = 2 x, v and since x = 0 and the Euclidean product is nondegenerate it follows that Tx f is surjective for every x f 1 (1). Therefore the image of Tx f at a point x in the pre-image by f of 1 has dimension 1 and by linearity, Tx f is surjective. Then 1 is a regular value of f . By the Submersion Theorem, the set S 2 = f 1 (1) is a smooth submanifold of R3 of codimension 1, i.e. a 2 dimensional submanifold.

(2) M (2, R) is a 4 dimensional smooth manifold with an atlas consisting in one chart : u v M (2, R) R4 given as follows: For A = , (A) = (u, v, w, x). w x Consider the smooth function f : M (2, R) R given by f (A) = ux vw = det A. We will show that 1 is a regular value. First of all notice that if A f 1 (1), then A = 0. A a b vector tangent to M (2, R) at A can be written as V = . Since det A = ux vw we c d have that TA f (V ) = ax + du bw cv which is the same as (a, b, c, d), (x, w, v, u) as an Euclidean product of two vectors in R4 . Since A = 0 then (x, w, v, u) = (0, 0, 0, 0) and this product is non-degenerate, TA f (V ) is surjective and then 1 is a regular value. Then as SL(2, R) = f 1 (1), we have that SL(2, R) is a codimension one smooth submanifold of M (2, R), i.e. a three dimensional submanifold. Exercice 6. Consider on R3 the one parameter dependent family of dieomorphisms: Show that this denes a ow and compute its associated vector eld. t (x, y, z) = (x cos t y sin t, x sin t + y cos t, zet ).

Corrig exercice 6. In order to show that t is a well-dened ow, we need to prove the following e conditions: (1) 0 = id: We have that 0 (x, y, z) = (x cos 0 y sin 0, x sin 0 + y cos 0, ze0 ) = (x, y, z). (2) s t = s+t : We have s t (x, y, z) = s (t (x, y, z)) = s (x cos t y sin t, x sin t + y cos t, zet ) = (x cos t cos s y sin t cos s x sin t sin s y cos t cos s, x cos t sin s y sin t sin s + x sin t cos s + y cos t cos s, zet es ) = (x cos(t + s) y sin(t + s), x sin(t + s) + y cos(t + s), zet+s ) = t+s (x, y, z).
d (x, y, z), dt t=0 t

Now the vector eld is determined by X(x, y, z) = d dt Then X = y

then

t=0

t (x, y, z) = (x sin 0 y cos 0, x cos 0 y sin 0, ze0 ) = (y, x, z). +x +z . x y z