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Lect. Notes 16
LECTURE NOTES 16
THE STRUCTURE OF SPACE-TIME
Lorentz Transformations Using Four-Vectors:
Space-time {as we all know} has four dimensions:
1 time dimension & 3 {orthogonal} space dimensions: ( t , r = xx + yy + zz ) .
Einsteins Theory of (Special) Relativity:
1-D time and 3-D space are placed on an equal/symmetrical footing with each other.
We use 4-vector/tensor notation for relativistic kinematics and relativistic electrodynamics
because the mathematical description of the physics takes on a simpler, and more elegant
appearance; the principles and physical consequences of the physics are also made clearer / more
profound!
Lorentz Transformations Expressed in 4-Vector Notation:
We define any 4-vector:
Where, by convention, the 0th component of the 4-vector, x0 = is the temporal (time-like),
{i.e. scalar} component of the 4-vector x , and (x1, x2, x3) are the (x, y, z) spatial / space-like
{i.e. 3-vector} components of the 4-vector x , respectively.
n.b. Obviously, the physical SI units of the 4-vector components must all be the same!!!
For space-time 4-vectors, we define {contravariant/superscript} x as:
x 0 ct
x1 x
x2 y
x3 z
x ( x 0 , x1 , x 2 , x3 ) = ( ct , x, y, z )
Then the Lorentz transformation of space-time quantities in IRF(S) to IRF(S), the latter of which
is moving e.g. with velocity v = +vx relative to IRF(S) is given by:
Original
4-vector
Notation:
ct = ( ct x )
x = ( x ct )
y = y
z = z
0
0
1
x = ( x x )
x1 = ( x1 x 0 )
x 2 = x 2
x3 = x3
New/Tensor
4-vector
Notation
1
Where: v c and:
1 2
Professor Steven Errede, Department of Physics, University of Illinois at Urbana-Champaign, Illinois
2005-2008. All Rights Reserved.
Lect. Notes 16
We can also write these four equations (either version) in matrix form:
ct
x =
y 0
z 0
0
0
0
0
1
0
0 ct
x 0
1
0 x
x
or: 2 =
x 0
0 y
3
1 z
x 0
0
0
0 0 x0
0 0 x1
1 0 x2
0 1 x 3
Each of the four above equations of the RHS representation can also be written compactly and
elegantly in tensor notation as:
3
0
0
0 0 00
0 0 10
=
1 0 02
0 1 30
10
02
11
12
12
22
13
32
30
13
32
33
row index
column index
We explicitly write out each of the four equations associated with x = x v for = 0, 1, 2, 3:
v =0
x0 = 0 x = 00 x 0 + 10 x1 + 02 x 2 + 30 x 3 = ( x 0 x1 )
=0
3
x1 = 1 x = 10 x 0 + 11 x1 + 12 x 2 + 13 x 3 = ( x1 x 0 )
=0
3
x2 = 2 x = 02 x 0 + 12 x1 + 22 x 2 + 32 x3 =
x2
=0
3
x3 = 3 x = 30 x 0 + 13 x1 + 32 x 2 + 33 x 3 =
x3
=0
We can write this relation even more compactly using the Einstein Summation Convention:
Repeated indices are always summed over:
3
x = x = x
v =0
People (including
Einstein) got / get
tired of explicitly
writing all of the
summation symbols
3
v =0
everywhere.
v =0
Lect. Notes 16
a = v a v
a = v a v
v =0
This compact relation mathematically defines the space-time nature, or structure of our universe!
For a Lorentz transformation along the 1 = x axis, with: v = + vx and thus = x , = v c ,
for a 4-vector a = ( a 0 , a1 , a 2 , a 3 ) , where a 0 is the temporal/scalar component and
0
0
0
0
1
0
0
1
0 a0 ( a a )
0 a1 ( a1 a 0 )
=
2
0 a2
3
1 a 3
a
Thus:
Lect. Notes 16
In IRF(S)
However, in order to keep track of the minus sign associated with the temporal component of
a 4-vector, especially when taking (i.e. computing) a scalar/dot product, we introduce the notion
of contravariant and covariant 4-vectors.
What we have been using thus far in these lecture notes are contravariant 4-vectors a ,
denoted by the superscript :
a0
1
a
a = ( a 0 , a1 , a 2 , a 3 ) = Contravariant 4-vector:
row
a =a = 2
a
3
A covariant 4-vector a is denoted by its subscript :
a
a = ( a0 , a1 , a2 , a3 )
= Covariant 4-vector:
a = acolumn = ( a0
a1
a2
a3 )
Thus, raising {or lowering} the index of a 4-vector, e.g. a a or a a changes the
sign of the zeroth (i.e. temporal/scalar) component of the 4-vector {only}.
Thats why we have to pay {very} close attention to subscripts vs. superscripts here !!!
Thus, a 4-vector scalar/dot product ( = a Lorentz invariant quantity) may be written using
contravariant and covariant 4-vectors as:
3
=0
=0
0
1
2
3
0
1
2
3
= a0b + a1b + a2b + a3b = a b0 + a b1 + a b2 + a b3 = pure #
Lect. Notes 16
a or a
sin
0 ax ax cos + a y sin
0
1 az
az
R or Rv
a or a
= 2nd rank, 33 = 9 component tensor
0 0 a 0 a 0 a1
0 0 a1 a 0 + a1
=
1 0 a2
a2
3
0 1 a
a3
0
0
a = v a v
, v = 0 : 3
Comparing the matrix for R or Rv with that of v , we can see that a Lorentz transformation
from one IRF to another is analogous to/has similarities to a physical rotation in 3-D Euclidean
space i.e. a Lorentz transformation is a certain kind of rotation in space-time where the
rotation is between the longitudinal space dimension (= the direction of the Lorentz boost, a.k.a.
the boost axis) and time!
In order to make this parallel somewhat sharper, we introduce a new kinematic variable,
known as the rapidity ( ), which is defined as:
sinh
and: cosh 2 sinh 2 = 1
cosh
1
1
1
1 tanh
2
cosh
cosh 2 sinh 2
sinh
= sinh i.e. = sinh
cosh
and: = tanh
Lect. Notes 16
Then the Lorentz transformation (along the x -axis) a = v a v of a 4-vector a can be written
{using = tanh , = cosh and = sinh } as:
a 0
1
a =
a2 0
3
a 0
0
0
0 0 a 0 cosh
0 0 a1 sinh
=
1 0 a2 0
0 1 a 3 0
sinh
cosh
0
0
0 0 a 0 a 0 cosh a1 sinh
0 0 a1 a 0 sinh + a1 cosh
=
1 0 a2
a2
0 1 a 3
a3
Again, compare this with the 3-D space rotation of a 3-D space-vector a about the z -axis:
ax cos
a y = sin
a 0
z
sin
0 ax ax cos + a y sin
0
1 az
az
We see that the above Lorentz transformation is similar (but not identical) to the expression
for the 3-D Euclidean geometry spatial rotation!
However because of the sinh and cosh nature associated with the Lorentz transformation
we see that the Lorentz transformation is in fact a hyperbolic rotation in space-time i.e. the
transformation of the longitudinal space dimension associated with the axis parallel to the
Lorentz boost direction and time is that of a hyperbolic-type rotation!!!
The use of the rapidity variable, has benefits e.g. for the Einstein Velocity Addition Rule:
If u = dx dt = the velocity of a particle as seen by a {stationary} observer in IRF(S) and
u = dx dt = the velocity of the particle as seen by a {stationary} observer in IRF(S') and
v = vx = the {relative} velocity between IRF(S) and IRF(S'), then u is related to u by:
u =
u v
1 uv c 2
u
u cv c
u =
2
1 u
1 uv c
u
1 u
tanh u =
tanh u tanh
tanh ( u )
1 tanh u tanh
1
Rapidities tanh are additive quantities in going from one IRF to another IRF !!!
Lect. Notes 16
c
u
u = tanh 1
c
v
= tanh 1 tanh 1 ( )
c
u = tanh 1
Velocities (certainly) are not additive in going from one IRF to another.
However:
= tanh 1 ( )
We explicitly show that the dot products x x and x x are Lorentz invariant quantities:
x = ( x0
x1
x3 ) = ( ct
x2
z)
x = ( x0
x1
x2
x3 ) = ( ct x
y z )
x0 ct
1
x
x
x = 2 =
x y
3
x z
x 0 ct
1
x
x
x = 2=
x y
3
x z
x x = ( x0
x1
x2
x0
1
x
x3 ) 2 = ( ct
x
3
x
ct
x
z)
y
z
= x0 x 0 + x1 x1 + x2 x 2 + x3 x 3 = ( ct ) + x 2 + y 2 + z 2 = x x
2
x x = ( x0
x1
x2
x 0
1
x
x3 ) 2 = ( ct x
x
3
x
ct
x
y z )
y
z
= x0 x0 + x1x1 + x2 x2 + x3 x3 = ( ct ) + x2 + y2 + z2 = x x
2
But:
x = v x v
and:
x = v xv
x = v x =
0
0
0
0 0 ct ( ct x )
0 0 x ( x ct )
=
1 0 y
y
0 1 z
z
x = v xv = ( ct
And:
+
z)
0
0
0
Thus:
x x = ( ( ct x ) ( x ct )
Lect. Notes 16
0
= ( ( ct x ) ( x ct )
0
0
0
1
0
z)
( ct x )
( x ct )
z)
= 2 ( ct x ) + 2 ( x ct ) + y 2 + z 2
2
2
2
= 2 ( ct ) 2 xct + 2 x 2 + 2 x 2 2 xct + 2 ( ct ) + y 2 + z 2
= 2 ( ct ) + 2 2 xct 2 2 x 2 + 2 x 2 2 2 xct + 2 2 ( ct ) + y 2 + z 2
2
= 2 ( ct ) + 2 2 ( ct ) + 2 x 2 2 2 x 2 + y 2 + z 2
2
= 2 (1 2 ) ( ct ) + 2 (1 2 ) x 2 + y 2 + z 2
2
But:
i.e.
2 1 1 2
1 2
x x =
1 2
1 2
2
( ct ) +
2
1
2
2
2
2
2
2
2
x + y + z = ( ct ) + x + y + z
x x = x x = ( ct ) + x2 + y2 + z2 = ( ct ) + x 2 + y 2 + z 2 = x x = x x
2
x
x
x
x = 2 = = v x v =
x y
0
3
0
x z
0
0
vx
c
1
1 x2
0 0 ct ( ct x x )
0 0 x ( x x ct )
=
1 0 y
y
0 1 z
z
Lect. Notes 16
x0 ct
1
0
x x
x = 2 =
= v x =
x y
y
3
0
x z
0 y
1
0
0
0
0
r = xx + yy + zz
v = vx x + v y y + vz z
v
c
1
1 y2
vz
c
1
1 z2
0 0 z ct ( ct z z )
x
1 0
0 x
y
0 1
0
y
0 0
z ( z z ct )
First, we define:
vy
0 ct ( ct y y )
0 x
x
0 y ( y y ct )
1 z
z
x0 ct
1
0
x
x
x = 2 = = v x v =
x y
0
3
z
x z
v
c
1
1 2
r = r = x2 + y 2 + z 2
v = v = vx2 + v y2 + vz2
In IRF(S)
= x x + y y + z z
= x2 + y2 + z2
Then:
x
( 1) x2
0
1
x ct
x
2
1
x
x
x = 2 = = v x v =
( 1) x y
x y
y
3
2
( 1) x z
z
2
( 1) x y
2
1+
( 1) y2
2
( 1) y z
2
( 1) x z
ct
2
x
( 1) y z y
2
z
1) z2
(
1+
{n.b. By inspection of this 3-D -matrix for 1-D motion (i.e. only along x , y , or z ) it is easy to
show that this expression reduces to the appropriate 1-D Lorentz transformation 1.) 3.) above.}
Or:
Lect. Notes 16
ct ir
( ) ir ct
x0 ct
= x x + y y + z z
x+
x
x
2
1
x
x
x = 2 = = v x v =
with: = x2 + y2 + z2
1
(
)
x y
y+
ir y y ct
2
3
1
x z
1 2
z + ( 1) ir ct
z
z
( )
( )
( )
n.b. The x0 = ct equation follows trivially from x0 = ct in 1.) through 3.) above.
The 3-D spatial part may be written vectorially as: r = r +
( 1) ir ct
( )
2
which may appear to be a more complicated expression, but its really only sorting out
components of r and r that are and to v for separate treatment.
See J.D. Jacksons Electrodynamics, 3rd Edition, p. 525 & p. 547 for more information.
Various Forms of Inverse Lorentz Transformations from IRF(S') to IRF(S):
1'.) 1-D Lorentz Transform / Boost along the x direction: x
x 0 ct
1
x
+ x
x
x = 2 = = v xv =
x y
0
x 3 z
0
+ x
0
0
0 0 ct ( ct + x x )
0 0 x ( x + x ct )
=
1 0 y
y
0 1 z
z
0
x
x
x = 2 = = v xv =
x y
+ y
3
0
x z
10
vx
v
1
=
= x = x =
c
c
1 x2
0 + y
1
0
0
0
0
vy
c
vy
c
= y =
1
1 y2
0 ct ( ct + y y )
0 x
x
0 y ( y + y ct )
1 z
z
Lect. Notes 16
vz
v
1
=
= z = z =
c
c
1 z2
0 0 + z ct ( ct + z z )
x
1 0
0 x
y
0 1
0 y
0 0
z ( z + z ct )
x 0 ct
1
0
x x
x = 2 =
= v x =
x y
0
3
+ z
x z
First, we define:
r = xx + yy + zz
v
v
1
= = =
=
c
c
1 2
r = r = x 2 + y 2 + z 2
v = vx x + vy y + vz z = v
v
v
= =
c
c
In IRF(S')
= x x + y y + z z
= x2 + y2 + z2
= = x x y y z z
= = x2 + y2 + z2
Then:
+ x
2
+ 1 + ( 1) x
x 0 ct
x
2
1
x
x
x = 2 = = v xv =
( 1) x y
x y
+ y
3
2
z
x
( 1) x z
+ z
2
+ y
( 1) x y
2
1+
( 1) y2
2
( 1) y z
2
+ z
( 1) x z
ct
2
x
( 1) y z y
2
z
2
( 1) z
1+
{n.b. By inspection of this 3-D -matrix for 1-D motion (i.e. only along x, y , or z ) it is easy to
show that this expression reduces to the appropriate 1-D Lorentz transformation 1'.) 3'.) above.}
Or:
ct + ir
( 1) ir + ct
x 0 ct
= x x + y y + z z =
x +
x
x
2
1
x
x
x = 2 = = v xv =
with: = x2 + y2 + z2 =
1)
(
x y
y +
ir y + y ct
2
3
1
=
x z
1
) ir + ct
z + (
z
z
2
11
Lect. Notes 16
n.b. The x 0 = ct equation follows trivially from x 0 = ct in 1'.) through 3'.) above.
The 3-D spatial part may be written vectorially as: r = r +
( 1) ir + ct
( )
2
which may appear to be a more complicated expression, but its really only sorting out
components of r and r that are and to v for separate treatment.
Note also that x = v xv but xv = v x . x = v xv = v v x
0
= identity (i.e. unit) 44 matrix =
0
The quantity: v v = 1
0
1
0
0
0
0
1
0
Thus: x = v xv = v v x = 1 x = x i.e. v v = v v = 1
We define the relativistic space-time interval between two events as the
x x A xB
Space-time difference:
x A0 ct A
1
x
x
x A = A2 = A
xA yA
3
xA z A
xB0 ct B
1
x
x
xB = B2 = B
xB y B
3
xB z B
t AB
= c t
2
2
AB
+ x
2
AB
+ y
2
AB
+ z
x AB
y AB
z AB
2
AB
2
2
2
+ y AB
+ z AB
Define the usual 3-D spatial distance: d AB x AB
2
2
2
2
2
2
+ x AB
+ y AB
+ z AB
= c 2 t AB
+ d AB
I x x = x x = c 2 t AB
12
Lect. Notes 16
2
2
I x x = x x = c 2 t AB
+ d AB
In IRF(S):
2
I x x = x x = c 2 t AB2 + d AB
Or:
Work this out / prove to yourselves that it is true follow procedure / same as on pages 7-8 of
these lecture notes.
Note that:
t AB t AB and d AB d AB
[ IRF ( S )]
[ IRF ( S )]
[ IRF ( S )]
[ IRF ( S )]
Time dilation in IRF(S) relative to IRF(S) is exactly compensated by spatial Lorentz contraction
in IRF(S) relative to IRF(S), keeping the interval I the same (i.e. Lorentz invariant) in all IRFs !
Profound aspect / nature of space-time!
Depending on the details of the two events (A & B), the interval
2
2
I x x = x x = c 2 t AB
+ d AB
can be positive, negative, or zero:
2
2
> d AB
I < 0: Interval I is time-like: c 2 t AB
13
Lect. Notes 16
dx ( t )
Velocity, v(t) = slope
of x(t) vs. t graph at time t.
dt t
In relativity, we {instead} plot ct vs. x (danged theorists!!!) for the space-time diagram:
(a.k.a. Minkowski Diagram)
1
1
v
Dimensionless velocity : = =
=
slope d ( ct )
c
dx
A particle at rest in an IRF is represented by a vertical line on the relativistic space-time diagram:
Slope
d ( ct )
dx
x = xA
= =
1
1
= =0
slope
The trajectory of a particle in the space-time diagram makes an angle = 0o with respect to
vertical (ct) axis.
A photon traveling at v = c is represented by a straight line at 45o with respect to the vertical (ct)
axis:
Slope
d ( ct )
dx
x = xA
= 1 photon =
1
1
= =1
slope 1
(i.e. v photon = c )
14
Lect. Notes 16
A particle traveling at constant speed v < c ( < 1) is represented by a straight line making an
angle < 45o with respect to the vertical (ct) axis:
Slope
d ( ct )
dx
x = xA
> 1 particle =
1
1
=
<1
slope > 1
< c
particle =
c
Suppose you set out from t = 0 at the origin of your own Minkowski diagram.
Because your velocity can never exceed c ( v c , i.e. 1 ), your trajectory (your world line) in
the ct vs. x space-time diagram can never have |slope| = |dct/dx| < 1, anywhere along it.
Your motion in the Minkowski diagram is restricted to the wedge-shaped region bounded
by the two 45o lines (with respect to vertical (ct) axis) as shown in the figure below:
15
Lect. Notes 16
The 45o wedge-shaped region above the horizontal x-axis (ct > 0) is your future at t = 0
= locus of all space-time points potentially accessible to you.
Of course, as time goes on, as you do progress along your world line, your options
progressively narrow your future at any moment t > 0 is the 45o wedge constructed
from / at whatever space-time point (ctA, xA) you are at, at that point in space (xA) at the
time tA.
The backward 45o wedge below the horizontal x-axis (ct < 0) is your past at t = 0
= locus of all points potentially accessible to you.
The space-time regions outside the present and past 45o wedges in the Minkowski
diagram are inaccessible to you, because you would have to travel faster than speed of
light c to be in such regions!
A space-time diagram with one time dimension (vertical axis) and 3 space dimensions
(3 horizontal axes: x, y and z) is a 4-dimensional diagram cant draw it on 2-D paper!
The slope of the world line / the trajectory connecting two events on a space-time diagram tells
you at a glance whether the invariant interval I x x = x x is:
d ( ct )
> 1 ) (all points in your future and your past are time-like)
dx
d ( ct )
< 1 ) (all points in your present are space-like)
b) Space-like (Slope
dx
d ( ct )
1 ) (all points on your light cone(s) are light-like)
c) Light-like (Slope
dx
a) Time-like (Slope
16
Lect. Notes 16
Changing Views of Relativistic Space-time Along the World line of a Rapidly Accelerating Observer
For relativistic space-time, the
vertical axis is ctime, the horizontal
axis is distance; the dashed line is the
space-time trajectory ("world line") of
the observer. The small dots are
arbitrary events in space-time.
The lower quarter of the diagram
(within the light cone) shows events
(dots) in the past that are visible to the
user, the upper quarter (within the
light cone) shows events (dots) in the
future that will be able to see the
observer.
The slope of the world line
(deviation from vertical) gives the
relative velocity to the observer. Note
how the view of relativistic space-time
changes when the observer accelerates
{see relativistic animation}.
Changing Views of Galilean Space-time Along the World Line of a Slowly Accelerating Observer
In non-relativistic Galilean/
Euclidean space, the vertical axis is
ctime, the horizontal axis is
distance; the dashed line is the
space-time trajectory ("world line")
of the observer. The small dots are
arbitrary events in space-time.
The lower half of the diagram
shows (past) events that are
"earlier" than the observer, the
upper half shows (future) events
that are "later" than the observer.
The slope of the world line
(deviation from vertical) gives the
relative velocity to the observer.
Note how the view of Galilean /
Euclidean space-time changes
when the observer accelerates
{see Galilean animation}.
Professor Steven Errede, Department of Physics, University of Illinois at Urbana-Champaign, Illinois
2005-2008. All Rights Reserved.
17
Lect. Notes 16
Note that time in space-time is not just another coordinate (like x, y, z) its mark of
distinction is the minus sign in the invariant interval:
I x x = x x = ( ct ) + x 2 + y 2 + z 2
2
The minus sign in the invariant interval (arising from / associated with time dimension)
imparts a rich structure to sinh, cosh, tanh . . . the hyperbolic geometry of relativistic space-time
versus the circular geometry of Euclidean 3-dimensional space.
In Euclidean 3-D space, a rotation {e.g. about the z -axis} of a point P in the x-y plane
describes a circle the locus of all points at a fixed distance r = x 2 + y 2 from the origin:
I = ( ct ) + x 2
2
If we include e.g. the y -axis, the locus of all points in space-time with a given / specific
value of I = ( ct ) + x 2 + y 2 is a hyperboloid of revolution:
2
When the invariant interval I is time-like (I < 0) surface is a hyperboloid of two sheets.
When the invariant interval I is space-like (I > 0) surface is a hyperboloid of one sheet.
18
Lect. Notes 16
The new coordinates (x', ct') will lie on the same hyperbola as (x, ct) !!!
no Lorentz transformations from the upper lower sheet of the time-like (I < 0)
hyperboloid of two sheets ( and vice versa).
no Lorentz transformations from the upper or lower sheet of the time-like (I < 0)
hyperboloid of two sheets to the space-like (I > 0) hyperboloid of one sheet (and vice
versa).
An event on the upper sheet of a time-like hyperboloid (n.b. lies inside of light cone)
definitely occurred after time t = 0.
An event on lower sheet of a time-like hyperboloid (n.b. also lies inside of light cone)
definitely occurred before time t = 0.
the space-like hyperboloid lies outside of the light cone) the event can occur either at positive
or negative time t it depends on the IRF from which the event is viewed!
If two events are time-like separated (within the light cone) they obey causality.
two events (i.e. they lie within the light cone) then the temporal ordering is same
(for all) observers i.e. causality is obeyed.
Professor Steven Errede, Department of Physics, University of Illinois at Urbana-Champaign, Illinois
2005-2008. All Rights Reserved.
19
Lect. Notes 16
We dont live outside the light cone (outside the light cone > 1).
x = and x = ( ict
y
z
z)
same as always, but here the ve sign in the temporal (0) index is generated by i * i = 1 .
Thus, in Minkowskis notation x = v x v for a 1-D Lorentz transform along the x -direction is:
x0 ict
1
x
x x
= v x =
x = 2 =
x y
0
3
0
x z
0
0
0 0 ict ( ict x x )
v
x x
c
0 0 x ( x xict )
=
with:
1
1 0 y
y
1 x2
0 1 z
z
The physical interpretation of the ict temporal component vs. the x, y, z spatial components
of the four-vectors x and x is that there exists a complex, 90o phase relation between space and
time in special relativity i.e. flat space-time. Weve seen this before, e.g. for {zero-frequency}
virtual photons, where the relation for the relativistic total energy associated with a virtual
photon is E2* = p2*c 2 + m2*c 4 = hf * = 0 p *c = im *c 2 .
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Lect. Notes 16
In the flat space-time of special relativity, graphically this means that Lorentz transformations
from one IRF to another are related to each other e.g. via the {flat} space-time diagram as shown
in the figure below:
ict
ict
B
A
x
This formalism works fine in flat space-time/special relativity, but in curved space-time /
general relativity, it is cumbersome to work with the complex phase relation between time and
space is no longer 90o, it depends on the {local} curvature of space-time!
Imagine taking the above flat space-time 2-D surface and curving it e.g. into potato-chip shape!!!
Then imagine taking the 4-D flat space-time and curving/warping it per the curved 4-D space-time in
proximity to a supermassive black hole or a neutron star!!!
Thus, for people working in general relativity, the use of the modern 4-vector notation e.g. for
contravariant x and covariant x is strongly preferred, e.g.
ct
x
x = and x = ( ct
y
z
z)
In flat space-time/special relativity, the modern mathematical notation works equally well and
then also facilitates people learning the mathematics of curved space-time/general relativity.
Using the rule for the temporal (0) component of covariant x that x0 = x 0 , then Lorentz
invariant quantities such as x x = ( ct ) + x 2 + y 2 + z 2 are automatically calculated properly.
2
However, the physical interpretation of the complex phase relation between time and space
(and the temporal-spatial components of {all} other 4-vectors) often gets lost in the process.
which is why we explicitly mention this here
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