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For a massive particle on a timelike world line, proper time satisfies $d\tau =dt\sqrt{1-v^2/c^2}=dt/\gamma$. Its four-velocity and four-acceleration are $U=dX/d\tau$ and $A=dU/d\tau$. Differentiating $U=\gamma (c,\mathbf{v})$ givesThe invariant Minkowski inner products areFor the explicitly requested contraction,Thus four-acceleration is orthogonal to four-velocity. Equivalently this follows by differentiating the constant Lorentz scalar $U^2=c^2$ with respect to proper time.

For a massive particle on a timelike world line, the four-velocity is $U^{\mu }=d{X}^{\mu }/d\tau =\gamma (c,\mathbf{v})$, with $U^2=c^2$. Its four-momentum is $P^{\mu }=m{U}^{\mu }=(E/c,\mathbf{p})$ and its four-force is $F^{\mu }=d{P}^{\mu }/d\tau$. Here $\tau$ is proper time. A massless trajectory does not admit this massive-particle proper-time parametrization.

The asserted classification of arbitrary orthogonal vectors is false. With the chosen Minkowski metric, $D=(0,1,0,0)$ and $G=(0,0,1,0)$ are nonzero, orthogonal and both spacelike vectors. Also $D=(1,1,0,0)$ and $G=2D$ are orthogonal null vectors. The valid statement is that a nonzero vector orthogonal to a timelike vector is spacelike. To prove it, choose the rest frame of the timelike vector, $D=(d,0,0,0)$; then $D\cdot G=d{G}^0=0$ forces $G^0=0$, so $G^2=-|\mathbf{G}{|}^2<0$.

The relativistic energy-momentum relation givesTherefore $\boxed{P^2=0⟹m=0}$. A photon is an example: $E=c|\mathbf{p}|$. A collection of photons need not itself have zero invariant mass.

Use coordinates $X^{\mu }=(ct,\mathbf{x})$ and the mostly-plus Minkowski metric ${\eta }_{\mu \nu }=\mathrm{diag}(-1,1,1,1)$. Along a future-directed timelike world line, proper time satisfiesThe four-velocity and four-acceleration areThe Minkowski norm is fixed: $U^{\mu }{U}_{\mu }=-c^2$. Differentiating with respect to proper time, using the constant Minkowski metric, givesIn the instantaneous rest reference frame, $U^{\mu }=(c,0,0,0)$, so the orthogonality says $A^0=0$ there. This construction uses a timelike world line; a massless particle has no rest-frame proper time parameter.

Let $t$ label the reception event in the source reference frame. Its distance from the source and the relevant retarded time areThe received phase is $2\pi f_0{t}_e$. Because the observer's proper time obeys $d\tau =dt/\gamma$, its measured frequency isEquivalently, write $\beta =v/c$ and $s(t)=vt/r(t)$. The incoming Doppler factor is $D_{\mathrm{in}}=\gamma (1-\beta s)$, obtained also by contracting the photon four-momentum with the observer's four-velocity. The frequency decreases monotonically, withIn particular, the instant of closest approach is not the zero-shift point: a moving receiver looking perpendicular to its motion sees a factor $\gamma$, not $1/\gamma$. The latter factor applies to a different moving-emitter geometry. The graph uses source-frame reception time, with observer proper time $\tau =t/\gamma$.

Let $z^{\mu }(\tau )$ be the point electric charge's world line, with proper time $\tau$ and four-velocity $U^{\mu }=d{z}^{\mu }/d\tau =\gamma (c,\mathbf{u})$. For the field event $x^{\mu }$, choose the retarded source event: $R^{\mu }=x^{\mu }-z^{\mu }({\tau }_{\mathrm{ret}})$ is future-directed and null. Write $R^{\mu }=(R,R\mathbf{n})$, where $R=|\mathbf{x}-\mathbf{z}(t_{\mathrm{ret}})|=c(t-t_{\mathrm{ret}})$. In the instantaneous rest inertial frame of that source event,Consequently the covariant expression matching this Coulomb potential isThe denominator is a Lorentz scalar, so the right-hand side is a four-vector with the required instantaneous-rest components. This describes the retarded potential in Lorenz gauge, with no added free electromagnetic wave. Lorentz covariance alone does not establish the boundary conditions or exclude additional terms depending on four-acceleration. The physical input is the retarded point-source solution of Maxwell equations: the potential at the retarded event depends on the instantaneous four-current, while its derivatives generate the acceleration field. Equivalently, evaluating the retarded source integral gives a Jacobian $1/(1-\mathbf{n}\cdot \mathbf{\beta })$ from the light-cone constraint; this fixes that input for arbitrary smooth subluminal motion.^[ref]

In any inertial frame, put $\mathbf{\beta }=\mathbf{u}/c$ and $\kappa =1-\mathbf{n}\cdot \mathbf{\beta }$. Then $-R\cdot U=\gamma cR\kappa$, and the Liénard–Wiechert potential isDifferentiate using $\mathbf{E}=-\nabla \varphi -{\partial }_t\mathbf{A}$ and $\mathbf{B}=\nabla \times \mathbf{A}$, including the position and time dependence of the retarded time. For example, $\partial t_{\mathrm{ret}}/\partial t=1/\kappa$ and $\nabla t_{\mathrm{ret}}=-\mathbf{n}/(c\kappa )$. The resulting Liénard-Wiechert field isHere the dot denotes a derivative with respect to source coordinate time. The first term is the velocity or non-radiative field: it falls as $R^{-2}$ and exists even without acceleration. The second is the acceleration or radiation field, falling as $R^{-1}$ and transverse to $\mathbf{n}$. Its Poynting flux falls as $R^{-2}$, so its outward power integrated over a large sphere stays finite as its radius tends to infinity. The first term's squared-field flux instead vanishes in that limit. This large-distance distinction defines radiation; a moving near field can carry local energy without constituting radiation escaping to infinity.

Take the divergence of the Ampère-Maxwell equation and use that the divergence of a curl is zero:The last step uses Gauss's law. Thus the charge continuity equation is exactlyFor a direct justification that this four-current is a four-vector, take one locally comoving population of electric charges, with rest charge density ${\rho }_0$ and four-velocity $U^{\mu }=\gamma (c,\mathbf{v})$. Invariance of electric charge and length contraction give $\rho =\gamma {\rho }_0$ and $\mathbf{J}=\rho \mathbf{v}$, hence $J^{\mu }={\rho }_0{U}^{\mu }$. Summing populations preserves the four-vector rule. In particular, $c{\rho }^{\prime }=\gamma (c\rho -\beta J_x)$ and $J_x^{\prime }=\gamma (J_x-\beta c\rho )$. The Lorentz invariance of its four-divergence then explains why charge conservation holds in every inertial frame. A single zero-divergence condition alone would not determine a field's transformation law; the physical charge density and current density provide the additional content.

For a massive particle, the proper time is determined by the Minkowski interval along its worldline:Choose future-directed time increments. With the Lorentz factor ${\gamma }_u=(1-|\mathbf{u}{|}^2/c^2{)}^{-1/2}$,We use $U^{\alpha }$ for the source's $u^{\alpha }$ to distinguish four-velocity from velocity $\mathbf{u}$. Since proper time is invariant and $d{x}^{\alpha }$ is a four-vector, $U^{\alpha }$ is a four-vector, with $U_{\alpha }{U}^{\alpha }=-c^2$. The rest-frame result $U^{\alpha }=(c,0)$ follows immediately.

The Lorentz boost from A to B givesDivide each spatial displacement by $d{t}^{\prime }={\gamma }_{v}dt(1-v{u}_x/c^2)$. The velocity-addition formula isThe same result follows by transforming the four-velocity and using $w_i=c{U}^{\prime i}/U^{\prime 0}$. The transverse velocities change because the transformed time increment depends on $dx$, even though the transverse spatial coordinates are unchanged.

For $v=|\mathbf{v}|>0$, decompose the velocity as $\mathbf{u}={\mathbf{u}}_{\parallel }+{\mathbf{u}}_{\perp }$, parallel and perpendicular to $\mathbf{v}$. A rotation-free Lorentz boost gives the velocity-addition formulaThese two components are orthogonal, soThe last equality is Lagrange's identity for the cross product. For physical subluminal speeds, $D>0$, givingThe $\mathbf{v}=0$ case follows directly or by continuity. An independent form useful for checks is $1-|\mathbf{w}{|}^2/c^2=(1-u^2/c^2)(1-v^2/c^2)/D^2$, obtained from the transformed four-velocity normalization.

Let ${\mathbf{v}}_1=(c/2,0,0)$ and ${\mathbf{v}}_2=(c/(2\sqrt{2}),c/(2\sqrt{2}),0)$ in A. Each has Lorentz factor $g=2/\sqrt{3}$. The relative Lorentz factor of $S_2$ in the rest frame of $S_1$ follows from their four-velocity tensor contraction:Let $b=\sqrt{1-{\Gamma }^{-2}}$ be the relative speed divided by $c$. In the rest frame of $S_1$, take $\theta$ between the photon's propagation direction and $S_2$'s velocity. The observed angular frequency is the invariant $\omega =-k\cdot U$. Applying it to the emitter, whose rest angular frequency is ${\omega }_0$, gives ${\omega }_0=\Gamma {\omega }_1(1-b\cos \theta )$. Since ${\omega }_1={\omega }_0$,This is a relativistic Doppler effect calculation using both emitters' and receivers' rest clocks; the time delay of reception introduces no extra factor for constant velocities.

For the direction in A, write the wave four-vector as $k^{\mu }=({\omega }_A/c)(1,\mathbf{n})$, where $\mathbf{n}$ is a unit vector. Equality of the emitted and received angular frequencies gives $k\cdot (U_1-U_2)=0$. Since the two laboratory Lorentz factors are equal, their time components cancel:Thus the complete answer in three spatial dimensions isIf propagation is additionally assumed to lie in the stars' motion plane, this reduces to either direction along the internal angle bisector, $22.5^{\circ }$ or $202.5^{\circ }$ from $+x$. Reflection exchanging the stars' laboratory velocities explains the angle bisector by symmetry. The source does not specify coplanar propagation or the stars' positions, so it does not fix the sign or exclude an out-of-plane ray. For example $\mathbf{n}=(0,0,1)$ gives ${\omega }_1={\omega }_2=g{\omega }_A$ and satisfies the same no-shift condition. Initial positions can be chosen to make such a ray connect emission and reception. All these possibilities give the same rest-frame $\theta$ above.

With constant rest mass, $\mathbf{p}=m\gamma \mathbf{v}$ and the chain rule gives $\dot{\gamma }={\gamma }^3(\mathbf{v}\cdot \mathbf{a})/c^2$. Hence the laboratory relativistic force isUse the vector triple product identity $\mathbf{v}\times (\mathbf{v}\times \mathbf{a})=\mathbf{v}(\mathbf{v}\cdot \mathbf{a})-v^2\mathbf{a}$, and ${\gamma }^3(1-v^2/c^2)=\gamma$, to obtainThe relativistic energy is $E=m\gamma c^2$, whose time derivative is $m{\gamma }^3\mathbf{v}\cdot \mathbf{a}$. Taking the dot product of the first expression for $\mathbf{F}$ with $\mathbf{v}$ gives the same quantity, because $\gamma +{\gamma }^3{v}^2/c^2={\gamma }^3$. Thus $dE/dt=\mathbf{F}\cdot \mathbf{v}$. Since $d/d\tau =\gamma d/dt$, the four-force isIts tensor contraction with the four-velocity vanishes: $F^{\alpha }{U}_{\alpha }=-{\gamma }^2\mathbf{F}\cdot \mathbf{v}+{\gamma }^2\mathbf{F}\cdot \mathbf{v}=0$. This orthogonality also follows by differentiating $p^{\alpha }{p}_{\alpha }=-m^2{c}^2$. Resolving the laboratory acceleration relative to $\mathbf{v}$ gives ${\mathbf{F}}_{\parallel }=m{\gamma }^3{\mathbf{a}}_{\parallel }$ and ${\mathbf{F}}_{\perp }=m\gamma {\mathbf{a}}_{\perp }$.

For metric signature $(+---)$, a perfect fluid has $T_{ab}=(\rho +p)u_a{u}_b-p{g}_{ab}$. The Einstein field equations and static Killing field is a Ricci eigenvector imply $(\rho +p)(k\cdot u)u_{[a}{k}_{b]}=0$. Two nonzero timelike vectors cannot be orthogonal, so $k\cdot u\ne 0$. If $\rho +p\ne 0$, the four-velocity is parallel to the static Killing vector. Choosing both future-directed gives the displayed normalization. For $\rho +p=0$, the stress-energy tensor is proportional to the metric tensor and does not determine a preferred fluid velocity; the strict enthalpy hypothesis is therefore material.

The energy carried by one photon is proportional to its frequency $\nu$, with proportionality constant the Planck constant $h$. The equivalent forms use angular frequency $\omega =2\pi \nu$ and vacuum wavelength $\lambda =c/\nu$. Different observers can measure different photon energies because they measure different frequencies; the photon remains massless. In signature $(+---)$, an observer with four-velocity $u^{\mu }$ measures $E=p_{\mu }{u}^{\mu }$, where $p^{\mu }$ is the photon's four-momentum and $u^{\mu }{u}_{\mu }=c^2$.

The spacetime coordinates of an event combine into a four-vector $X^a=(ct,x,y,z)$ under Lorentz transformations between inertial frames sharing an origin. For a massive particle, differentiation with respect to proper time gives its four-velocity. Under a spacetime translation, positions acquire an additive offset, while displacement four-vectors transform linearly under the Lorentz part.

In a Cartesian inertial frame, let $\mathbf{v}$ and $\mathbf{a}=d\mathbf{v}/dt$ be the coordinate velocity and acceleration of a massive particle. With $\gamma =(1-v^2/c^2{)}^{-1/2}$, differentiating its four-velocity givesIn the $+---$ metric signature, its invariant Minkowski norm is $A^{\mu }{A}_{\mu }=-{\alpha }^2$. Expanding that contraction gives the displayed proper acceleration. Resolving the coordinate acceleration into components parallel and perpendicular to $\mathbf{v}$ yields the equivalent formula ${\alpha }^2={\gamma }^6{a}_{\parallel }^2+{\gamma }^4{a}_{\perp }^2$. In particular, constant coordinate acceleration and constant proper acceleration are different prescriptions.

With signature $(-,+,+,+)$ and units $c=1$, parametrizing a timelike worldline by proper time makes its four-velocity satisfy $U^a{U}_a=-1$.

A four-force preserving the particle's rest mass. For a massive particle, $P=mU$ and $U^2=c^2$ in the mostly-minus convention imply $F\cdot U=c^{2}dm/d\tau$. Thus constant mass is equivalent to orthogonality of the force and four-velocity. Energy transfer in a moving frame is allowed even though rest mass does not change.

For rectilinear motion write the four-velocity in an inertial frame as $U=(c\cosh \eta ,c\sinh \eta )$, where $\eta$ is the rapidity and $\tau$ is proper time. Differentiation gives $A=c\dot{\eta }(\sinh \eta ,\cosh \eta )$, with invariant $A\cdot A=-c^2{\dot{\eta }}^2$ in the $+-$ metric signature. The signed proper acceleration is therefore $a=c\dot{\eta }$. Constant signed acceleration gives $\eta ={\eta }_0+a\tau /c$; specifying initial position alone leaves the initial rapidity ${\eta }_0$ undetermined.

For future-directed unit timelike four-velocities in metric signature $(+---)$, $U_1\cdot U_2/c^2$ is the Lorentz factor of either observer measured in the rest frame of the other. In a common inertial frame it equals ${\gamma }_1{\gamma }_2(1-{\mathbf{\beta }}_1\cdot {\mathbf{\beta }}_2)$. ThereforeExpanding the numerator converts this to the dot-and-cross-product form of relativistic velocity addition. The invariant construction explains why the relative speed is symmetric even when the spatial velocity components belong to different rest frames.

Relativistic dust is a continuum of noninteracting massive particles with one local four-velocity $u^{\mu }$ and negligible pressure. With signature $(+---)$, $u^{\mu }{u}_{\mu }=c^2$ and rest mass density $\rho$, its stress-energy tensor has the displayed form. Contracting stress-energy conservation with $u_{\nu }$ and using metric compatibility gives $c^2{\nabla }_{\mu }(\rho u^{\mu })=0$. Substituting back yields $u^{\mu }{\nabla }_{\mu }{u}^{\nu }=0$ wherever $\rho >0$: each particle follows a geodesic. The cosmological pressureless matter model is a homogeneous application.