|
Soon after publishing the special theory of relativity in 1905, Einstein started thinking about how to incorporate gravity into his new relativistic framework. In 1907, beginning with a simple thought experiment involving an observer in free fall, he embarked on what would be an eight-year search for a relativistic theory of gravity. After numerous detours and false starts, his work culminated in the presentation to the Prussian Academy of Science in November 1915 of what are now known as the Einstein field equations. These equations specify how the geometry of space and time is influenced by whatever matter and radiation are present, and form the core of Einstein's general theory of relativity.[2] The Einstein field equations are nonlinear and very difficult to solve. Einstein used approximation methods in working out initial predictions of the theory. But as early as 1916, the astrophysicist Karl Schwarzschild found the first non-trivial exact solution to the Einstein field equations, the so-called Schwarzschild metric. This solution laid the groundwork for the description of the final stages of gravitational collapse, and the objects known today as black holes. In the same year, the first steps towards generalizing Schwarzschild's solution to electrically charged objects were taken, which eventually resulted in the Reissner–Nordström solution, now associated with electrically charged black holes.[3] In 1917, Einstein applied his theory to the universe as a whole, initiating the field of relativistic cosmology. In line with contemporary thinking, he assumed a static universe, adding a new parameter to his original field equations—the cosmological constant—to reproduce that "observation".[4] By 1929, however, the work of Hubble and others had shown that our universe is expanding. This is readily described by the expanding cosmological solutions found by Friedmann in 1922, which do not require a cosmological constant. Lemaître used these solutions to formulate the earliest version of the Big Bang models, in which our universe has evolved from an extremely hot and dense earlier state.[5] Einstein later declared the cosmological constant the biggest blunder of his life.[6] During that period, general relativity remained something of a curiosity among physical theories. It was clearly superior to Newtonian gravity, being consistent with special relativity and accounting for several effects unexplained by the Newtonian theory. Einstein himself had shown in 1915 how his theory explained the anomalous perihelion advance of the planet Mercury without any arbitrary parameters ("fudge factors").[7] Similarly, a 1919 expedition led by Eddington confirmed general relativity's prediction for the deflection of starlight by the Sun during the total solar eclipse of May 29, 1919,[8] making Einstein instantly famous.[9] Yet the theory entered the mainstream of theoretical physics and astrophysics only with the developments between approximately 1960 and 1975, now known as the golden age of general relativity.[10] Physicists began to understand the concept of a black hole, and to identify quasars as one of these objects' astrophysical manifestations.[11] Ever more precise solar system tests confirmed the theory's predictive power,[12] and relativistic cosmology, too, became amenable to direct observational tests.[13] From classical mechanics to general relativity General relativity can be understood by examining its similarities with and departures from classical physics. The first step is the realization that classical mechanics and Newton's law of gravity admit a geometric description. The combination of this description with the laws of special relativity results in a heuristic derivation of general relativity.[14] Geometry of Newtonian gravity According to general relativity, objects in a gravitational field behave similarly to objects within an accelerating enclosure. For example, an observer will see a ball fall the same way in a rocket (left) as it does on Earth (right), provided that the acceleration of the rocket provides the same relative force. At the base of classical mechanics is the notion that a body's motion can be described as a combination of free (or inertial) motion, and deviations from this free motion. Such deviations are caused by external forces acting on a body in accordance with Newton's second law of motion, which states that the net force acting on a body is equal to that body's (inertial) mass multiplied by its acceleration.[15] The preferred inertial motions are related to the geometry of space and time: in the standard reference frames of classical mechanics, objects in free motion move along straight lines at constant speed. In modern parlance, their paths are geodesics, straight world lines in curved spacetime.[16] Conversely, one might expect that inertial motions, once identified by observing the actual motions of bodies and making allowances for the external forces (such as electromagnetism or friction), can be used to define the geometry of space, as well as a time coordinate. However, there is an ambiguity once gravity comes into play. According to Newton's law of gravity, and independently verified by experiments such as that of Eötvös and its successors (see Eötvös experiment), there is a universality of free fall (also known as the weak equivalence principle, or the universal equality of inertial and passive-gravitational mass): the trajectory of a test body in free fall depends only on its position and initial speed, but not on any of its material properties.[17] A simplified version of this is embodied in Einstein's elevator experiment, illustrated in the figure on the right: for an observer in a small enclosed room, it is impossible to decide, by mapping the trajectory of bodies such as a dropped ball, whether the room is at rest in a gravitational field, or in free space aboard an accelerating rocket generating a force equal to gravity.[18] Given the universality of free fall, there is no observable distinction between inertial motion and motion under the influence of the gravitational force. This suggests the definition of a new class of inertial motion, namely that of objects in free fall under the influence of gravity. This new class of preferred motions, too, defines a geometry of space and time—in mathematical terms, it is the geodesic motion associated with a specific connection which depends on the gradient of the gravitational potential. Space, in this construction, still has the ordinary Euclidean geometry. However, spacetime as a whole is more complicated. As can be shown using simple thought experiments following the free-fall trajectories of different test particles, the result of transporting spacetime vectors that can denote a particle's velocity (time-like vectors) will vary with the particle's trajectory; mathematically speaking, the Newtonian connection is not integrable. From this, one can deduce that spacetime is curved. The result is a geometric formulation of Newtonian gravity using only covariant concepts, i.e. a description which is valid in any desired coordinate system.[19] In this geometric description, tidal effects—the relative acceleration of bodies in free fall—are related to the derivative of the connection, showing how the modified geometry is caused by the presence of mass.[20] Relativistic generalization Light cone As intriguing as geometric Newtonian gravity may be, its basis, classical mechanics, is merely a limiting case of (special) relativistic mechanics.[21] In the language of symmetry: where gravity can be neglected, physics is Lorentz invariant as in special relativity rather than Galilei invariant as in classical mechanics. (The defining symmetry of special relativity is the Poincaré group which also includes translations and rotations.) The differences between the two become significant when we are dealing with speeds approaching the speed of light, and with high-energy phenomena.[22] With Lorentz symmetry, additional structures come into play. They are defined by the set of light cones (see the image on the left). The light-cones define a causal structure: for each event A, there is a set of events that can, in principle, either influence or be influenced by A via signals or interactions that do not need to travel faster than light (such as event B in the image), and a set of events for which such an influence is impossible (such as event C in the image). These sets are observer-independent.[23] In conjunction with the world-lines of freely falling particles, the light-cones can be used to reconstruct the space–time's semi-Riemannian metric, at least up to a positive scalar factor. In mathematical terms, this defines a conformal structure.[24] Special relativity is defined in the absence of gravity, so for practical applications, it is a suitable model whenever gravity can be neglected. Bringing gravity into play, and assuming the universality of free fall, an analogous reasoning as in the previous section applies: there are no global inertial frames. Instead there are approximate inertial frames moving alongside freely falling particles. Translated into the language of spacetime: the straight time-like lines that define a gravity-free inertial frame are deformed to lines that are curved relative to each other, suggesting that the inclusion of gravity necessitates a change in spacetime geometry.[25] A priori, it is not clear whether the new local frames in free fall coincide with the reference frames in which the laws of special relativity hold—that theory is based on the propagation of light, and thus on electromagnetism, which could have a different set of preferred frames. But using different assumptions about the special-relativistic frames (such as their being earth-fixed, or in free fall), one can derive different predictions for the gravitational redshift, that is, the way in which the frequency of light shifts as the light propagates through a gravitational field (cf. below). The actual measurements show that free-falling frames are the ones in which light propagates as it does in special relativity.[26] The generalization of this statement, namely that the laws of special relativity hold to good approximation in freely falling (and non-rotating) reference frames, is known as the Einstein equivalence principle, a crucial guiding principle for generalizing special-relativistic physics to include gravity.[27] The same experimental data shows that time as measured by clocks in a gravitational field—proper time, to give the technical term—does not follow the rules of special relativity. In the language of spacetime geometry, it is not measured by the Minkowski metric. As in the Newtonian case, this is suggestive of a more general geometry. At small scales, all reference frames that are in free fall are equivalent, and approximately Minkowskian. Consequently, we are now dealing with a curved generalization of Minkowski space. The metric tensor that defines the geometry—in particular, how lengths and angles are measured—is not the Minkowski metric of special relativity, it is a generalization known as a semi- or pseudo-Riemannian metric. Furthermore, each Riemannian metric is naturally associated with one particular kind of connection, the Levi-Civita connection, and this is, in fact, the connection that satisfies the equivalence principle and makes space locally Minkowskian (that is, in suitable locally inertial coordinates, the metric is Minkowskian, and its first partial derivatives and the connection coefficients vanish).[28] Einstein's equations Main articles: Einstein field equations and Mathematics of general relativity Having formulated the relativistic, geometric version of the effects of gravity, the question of gravity's source remains. In Newtonian gravity, the source is mass. In special relativity, mass turns out to be part of a more general quantity called the energy–momentum tensor, which includes both energy and momentum densities as well as stress (that is, pressure and shear).[29] Using the equivalence principle, this tensor is readily generalized to curved space-time. Drawing further upon the analogy with geometric Newtonian gravity, it is natural to assume that the field equation for gravity relates this tensor and the Ricci tensor, which describes a particular class of tidal effects: the change in volume for a small cloud of test particles that are initially at rest, and then fall freely. In special relativity, conservation of energy–momentum corresponds to the statement that the energy–momentum tensor is divergence-free. This formula, too, is readily generalized to curved spacetime by replacing partial derivatives with their curved-manifold counterparts, covariant derivatives studied in differential geometry. With this additional condition—the covariant divergence of the energy–momentum tensor, and hence of whatever is on the other side of the equation, is zero— the simplest set of equations are what are called Einstein's (field) equations: G_{\mu\nu}\equiv R_{\mu\nu} - {\textstyle 1 \over 2}R\,g_{\mu\nu} = {8 \pi G \over c^4} T_{\mu\nu}.\, On the left-hand side is the Einstein tensor, a specific divergence-free combination of the Ricci tensor R_{\mu\nu} and the metric. Where G_{\mu\nu} is symmetric. In particular, R=g^{\mu\nu}R_{\mu\nu}\, is the curvature scalar. The Ricci tensor itself is related to the more general Riemann curvature tensor as \quad R_{\mu\nu}={R^\alpha}_{\mu\alpha\nu}.\, On the right-hand side, T_{\mu\nu} is the energy–momentum tensor. All tensors are written in abstract index notation.[30] Matching the theory's prediction to observational results for planetary orbits (or, equivalently, assuring that the weak-gravity, low-speed limit is Newtonian mechanics), the proportionality constant can be fixed as κ = 8πG/c4, with G the gravitational constant and c the speed of light.[31] When there is no matter present, so that the energy–momentum tensor vanishes, the results are the vacuum Einstein equations, R_{\mu\nu}=0.\, There are alternatives to general relativity built upon the same premises, which include additional rules and/or constraints, leading to different field equations. Examples are Brans–Dicke theory, teleparallelism, and Einstein–Cartan theory.[32] Definition and basic applications See also: Mathematics of general relativity and Physical theories modified by general relativity The derivation outlined in the previous section contains all the information needed to define general relativity, describe its key properties, and address a question of crucial importance in physics, namely how the theory can be used for model-building. Definition and basic properties General relativity is a metric theory of gravitation. At its core are Einstein's equations, which describe the relation between the geometry of a four-dimensional, pseudo-Riemannian manifold representing spacetime, and the energy–momentum contained in that spacetime.[33] Phenomena that in classical mechanics are ascribed to the action of the force of gravity (such as free-fall, orbital motion, and spacecraft trajectories), correspond to inertial motion within a curved geometry of spacetime in general relativity; there is no gravitational force deflecting objects from their natural, straight paths. Instead, gravity corresponds to changes in the properties of space and time, which in turn changes the straightest-possible paths that objects will naturally follow.[34] The curvature is, in turn, caused by the energy–momentum of matter. Paraphrasing the relativist John Archibald Wheeler, spacetime tells matter how to move; matter tells spacetime how to curve.[35] While general relativity replaces the scalar gravitational potential of classical physics by a symmetric rank-two tensor, the latter reduces to the former in certain limiting cases. For weak gravitational fields and slow speed relative to the speed of light, the theory's predictions converge on those of Newton's law of universal gravitation.[36] As it is constructed using tensors, general relativity exhibits general covariance: its laws—and further laws formulated within the general relativistic framework—take on the same form in all coordinate systems.[37] Furthermore, the theory does not contain any invariant geometric background structures, i.e. it is background independent. It thus satisfies a more stringent general principle of relativity, namely that the laws of physics are the same for all observers.[38] Locally, as expressed in the equivalence principle, spacetime is Minkowskian, and the laws of physics exhibit local Lorentz invariance.[39] Model-building The core concept of general-relativistic model-building is that of a solution of Einstein's equations. Given both Einstein's equations and suitable equations for the properties of matter, such a solution consists of a specific semi-Riemannian manifold (usually defined by giving the metric in specific coordinates), and specific matter fields defined on that manifold. Matter and geometry must satisfy Einstein's equations, so in particular, the matter's energy–momentum tensor must be divergence-free. The matter must, of course, also satisfy whatever additional equations were imposed on its properties. In short, such a solution is a model universe that satisfies the laws of general relativity, and possibly additional laws governing whatever matter might be present.[40] Einstein's equations are nonlinear partial differential equations and, as such, difficult to solve exactly.[41] Nevertheless, a number of exact solutions are known, although only a few have direct physical applications.[42] The best-known exact solutions, and also those most interesting from a physics point of view, are the Schwarzschild solution, the Reissner–Nordström solution and the Kerr metric, each corresponding to a certain type of black hole in an otherwise empty universe,[43] and the Friedmann–Lemaître–Robertson–Walker and de Sitter universes, each describing an expanding cosmos.[44] Exact solutions of great theoretical interest include the Gödel universe (which opens up the intriguing possibility of time travel in curved spacetimes), the Taub-NUT solution (a model universe that is homogeneous, but anisotropic), and anti-de Sitter space (which has recently come to prominence in the context of what is called the Maldacena conjecture).[45] Given the difficulty of finding exact solutions, Einstein's field equations are also solved frequently by numerical integration on a computer, or by considering small perturbations of exact solutions. In the field of numerical relativity, powerful computers are employed to simulate the geometry of spacetime and to solve Einstein's equations for interesting situations such as two colliding black holes.[46] In principle, such methods may be applied to any system, given sufficient computer resources, and may address fundamental questions such as naked singularities. Approximate solutions may also be found by perturbation theories such as linearized gravity[47] and its generalization, the post-Newtonian expansion, both of which were developed by Einstein. The latter provides a systematic approach to solving for the geometry of a spacetime that contains a distribution of matter that moves slowly compared with the speed of light. The expansion involves a series of terms; the first terms represent Newtonian gravity, whereas the later terms represent ever smaller corrections to Newton's theory due to general relativity.[48] An extension of this expansion is the parametrized post-Newtonian (PPN) formalism, which allows quantitative comparisons between the predictions of general relativity and alternative theories.[49] Consequences of Einstein's theory General relativity has a number of physical consequences. Some follow directly from the theory's axioms, whereas others have become clear only in the course of the ninety years of research that followed Einstein's initial publication. Gravitational time dilation and frequency shift Main article: Gravitational time dilation Schematic representation of the gravitational redshift of a light wave escaping from the surface of a massive body Assuming that the equivalence principle holds,[50] gravity influences the passage of time. Light sent down into a gravity well is blueshifted, whereas light sent in the opposite direction (i.e., climbing out of the gravity well) is redshifted; collectively, these two effects are known as the gravitational frequency shift. More generally, processes close to a massive body run more slowly when compared with processes taking place farther away; this effect is known as gravitational time dilation.[51] Gravitational redshift has been measured in the laboratory[52] and using astronomical observations.[53] Gravitational time dilation in the Earth's gravitational field has been measured numerous times using atomic clocks,[54] while ongoing validation is provided as a side effect of the operation of the Global Positioning System (GPS).[55] Tests in stronger gravitational fields are provided by the observation of binary pulsars.[56] All results are in agreement with general relativity.[57] However, at the current level of accuracy, these observations cannot distinguish between general relativity and other theories in which the equivalence principle is valid.[58] Light deflection and gravitational time delay Main articles: Kepler problem in general relativity, Gravitational lens and Shapiro delay Deflection of light (sent out from the location shown in blue) near a compact body (shown in gray) General relativity predicts that the path of light is bent in a gravitational field; light passing a massive body is deflected towards that body. This effect has been confirmed by observing the light of stars or distant quasars being deflected as it passes the Sun.[59] This and related predictions follow from the fact that light follows what is called a light-like or null geodesic—a generalization of the straight lines along which light travels in classical physics. Such geodesics are the generalization of the invariance of lightspeed in special relativity.[60] As one examines suitable model spacetimes (either the exterior Schwarzschild solution or, for more than a single mass, the post-Newtonian expansion),[61] several effects of gravity on light propagation emerge. Although the bending of light can also be derived by extending the universality of free fall to light,[62] the angle of deflection resulting from such calculations is only half the value given by general relativity.[63] Closely related to light deflection is the gravitational time delay (or Shapiro delay), the phenomenon that light signals take longer to move through a gravitational field than they would in the absence of that field. There have been numerous successful tests of this prediction.[64] In the parameterized post-Newtonian formalism (PPN), measurements of both the deflection of light and the gravitational time delay determine a parameter called γ, which encodes the influence of gravity on the geometry of space.[65] Gravitational waves Main article: Gravitational wave Ring of test particles influenced by gravitational wave One of several analogies between weak-field gravity and electromagnetism is that, analogous to electromagnetic waves, there are gravitational waves: ripples in the metric of spacetime that propagate at the speed of light.[66] The simplest type of such a wave can be visualized by its action on a ring of freely floating particles. A sine wave propagating through such a ring towards the reader distorts the ring in a characteristic, rhythmic fashion (animated image to the right).[67] Since Einstein's equations are non-linear, arbitrarily strong gravitational waves do not obey linear superposition, making their description difficult. However, for weak fields, a linear approximation can be made. Such linearized gravitational waves are sufficiently accurate to describe the exceedingly weak waves that are expected to arrive here on Earth from far-off cosmic events, which typically result in relative distances increasing and decreasing by 10^{-21} or less. Data analysis methods routinely make use of the fact that these linearized waves can be Fourier decomposed.[68] Some exact solutions describe gravitational waves without any approximation, e.g., a wave train traveling through empty space[69] or so-called Gowdy universes, varieties of an expanding cosmos filled with gravitational waves.[70] But for gravitational waves produced in astrophysically relevant situations, such as the merger of two black holes, numerical methods are presently the only way to construct appropriate models.[71] Orbital effects and the relativity of direction Main article: Kepler problem in general relativity General relativity differs from classical mechanics in a number of predictions concerning orbiting bodies. It predicts an overall rotation (precession) of planetary orbits, as well as orbital decay caused by the emission of gravitational waves and effects related to the relativity of direction. Precession of apsides Newtonian (red) vs. Einsteinian orbit (blue) of a lone planet orbiting a star In general relativity, the apsides of any orbit (the point of the orbiting body's closest approach to the system's center of mass) will precess—the orbit is not an ellipse, but akin to an ellipse that rotates on its focus, resulting in a rose curve-like shape (see image). Einstein first derived this result by using an approximate metric representing the Newtonian limit and treating the orbiting body as a test particle. For him, the fact that his theory gave a straightforward explanation of the anomalous perihelion shift of the planet Mercury, discovered earlier by Urbain Le Verrier in 1859, was important evidence that he had at last identified the correct form of the gravitational field equations.[72] The effect can also be derived by using either the exact Schwarzschild metric (describing spacetime around a spherical mass)[73] or the much more general post-Newtonian formalism.[74] It is due to the influence of gravity on the geometry of space and to the contribution of self-energy to a body's gravity (encoded in the nonlinearity of Einstein's equations).[75] Relativistic precession has been observed for all planets that allow for accurate precession measurements (Mercury, Venus, and Earth),[76] as well as in binary pulsar systems, where it is larger by five orders of magnitude.[77] Orbital decay Orbital decay for PSR1913+16: time shift in seconds, tracked over three decades.[78] According to general relativity, a binary system will emit gravitational waves, thereby losing energy. Due to this loss, the distance between the two orbiting bodies decreases, and so does their orbital period. Within the Solar System or for ordinary double stars, the effect is too small to be observable. This is not the case for a close binary pulsar, a system of two orbiting neutron stars, one of which is a pulsar: from the pulsar, observers on Earth receive a regular series of radio pulses that can serve as a highly accurate clock, which allows precise measurements of the orbital period. Because neutron stars are very compact, significant amounts of energy are emitted in the form of gravitational radiation.[79] The first observation of a decrease in orbital period due to the emission of gravitational waves was made by Hulse and Taylor, using the binary pulsar PSR1913+16 they had discovered in 1974. This was the first detection of gravitational waves, albeit indirect, for which they were awarded the 1993 Nobel Prize in physics.[80] Since then, several other binary pulsars have been found, in particular the double pulsar PSR J0737-3039, in which both stars are pulsars.[81] Geodetic precession and frame-dragging Main articles: Geodetic precession and Frame dragging Several relativistic effects are directly related to the relativity of direction.[82] One is geodetic precession: the axis direction of a gyroscope in free fall in curved spacetime will change when compared, for instance, with the direction of light received from distant stars—even though such a gyroscope represents the way of keeping a direction as stable as possible ("parallel transport").[83] For the Moon–Earth system, this effect has been measured with the help of lunar laser ranging.[84] More recently, it has been measured for test masses aboard the satellite Gravity Probe B to a precision of better than 0.3%.[85][86] Near a rotating mass, there are so-called gravitomagnetic or frame-dragging effects. A distant observer will determine that objects close to the mass get "dragged around". This is most extreme for rotating black holes where, for any object entering a zone known as the ergosphere, rotation is inevitable.[87] Such effects can again be tested through their influence on the orientation of gyroscopes in free fall.[88] Somewhat controversial tests have been performed using the LAGEOS satellites, confirming the relativistic prediction.[89] Also the Mars Global Surveyor probe around Mars has been used.[90][91] General relativity, or the general theory of relativity, is the geometric theory of gravitation published by Albert Einstein in 1916[1] and the current description of gravitation in modern physics. General relativity generalizes special relativity and Newton's law of universal gravitation, providing a unified description of gravity as a geometric property of space and time, or spacetime. In particular, the curvature of spacetime is directly related to the energy and momentum of whatever matter and radiation are present. The relation is specified by the Einstein field equations, a system of partial differential equations. Some predictions of general relativity differ significantly from those of classical physics, especially concerning the passage of time, the geometry of space, the motion of bodies in free fall, and the propagation of light. Examples of such differences include gravitational time dilation, gravitational lensing, the gravitational redshift of light, and the gravitational time delay. The predictions of general relativity have been confirmed in all observations and experiments to date. Although general relativity is not the only relativistic theory of gravity, it is the simplest theory that is consistent with experimental data. However, unanswered questions remain, the most fundamental being how general relativity can be reconciled with the laws of quantum physics to produce a complete and self-consistent theory of quantum gravity. Einstein's theory has important astrophysical implications. For example, it implies the existence of black holes—regions of space in which space and time are distorted in such a way that nothing, not even light, can escape—as an end-state for massive stars. There is ample evidence that the intense radiation emitted by certain kinds of astronomical objects is due to black holes; for example, microquasars and active galactic nuclei result from the presence of stellar black holes and black holes of a much more massive type, respectively. The bending of light by gravity can lead to the phenomenon of gravitational lensing, in which multiple images of the same distant astronomical object are visible in the sky. General relativity also predicts the existence of gravitational waves, which have since been observed indirectly; a direct measurement is the aim of projects such as LIGO and NASA/ESA Laser Interferometer Space Antenna and various pulsar timing arrays. In addition, general relativity is the basis of current cosmological models of a consistently expanding universe. |
About us|Jobs|Help|Disclaimer|Advertising services|Contact us|Sign in|Website map|Search|
GMT+8, 2015-9-11 21:17 , Processed in 0.131774 second(s), 16 queries .
