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Use $x^0=t$ and the Levi-Civita symbol ${ϵ}^1{}_{23}=1$. Define a smooth affine connection byThe lower indices are symmetric, so it is a torsion-free connection. With $t$ itself as parameter, the time component of the geodesic equation is identically satisfied, while its spatial components becomeThe last term is $2(\mathbf{B}\times \dot{\mathbf{x}}{)}^i$, with the wedge in the source interpreted as the three-dimensional cross product. Thus the spacetime lifts $(t,\mathbf{x}(t))$ are actually affinely parametrized geodesics, which proves the requested unparametrized claim. Conversely a geodesic with nonzero constant $dt/ds$ can be parametrized by $t$ and obeys this particle equation; purely spatial geodesics with $dt/ds=0$ are not such trajectories. No field equations or metric compatibility are needed. This construction is the affine connection for a velocity-linear force.

The Einstein field equations and the null energy condition imply the null convergence condition:The scalar-curvature and any cosmological constant terms vanish because $U^a{U}_a=0$. For generators of the null hypersurface, the supplied twist-free property gives $\hat{\omega }=0$. The null shear squared is nonnegative on the screen. Thus the Null Raychaudhuri equation impliesStarting from $\theta ({\lambda }_0)={\theta }_0<0$, the null expansion remains negative for as long as the regular congruence exists. HenceBefore the right-hand side reaches zero, inversion of the negative quantities givesSince the inverse of a finite negative null expansion cannot be nonnegative, the regular congruence cannot continue through the proposed upper limit. The null focusing theorem therefore givesProvided the geodesic itself extends this far, the transverse area collapses and $\theta \to -\infty$ at or before this bound. An earlier end of the affine geodesic would instead be geodesic incompleteness. A divergence of the null expansion marks a caustic or a conjugate point to a spacelike surface; it does not by itself establish a curvature singularity.

The relevant Penrose singularity theorem states: a connected time-oriented four-dimensional globally hyperbolic spacetime with a noncompact Cauchy hypersurface, a nonempty compact orientable boundaryless trapped surface, and the null convergence condition is future null-geodesically incomplete. Under the Einstein field equations, the null energy condition supplies the curvature hypothesis. A trapped surface here is spacelike and has both future normal null expansions strictly negative. The conclusion is an incomplete null geodesic, not necessarily a divergent curvature invariant at an identifiable point.

Suppose, for contradiction, that every future null geodesic is complete. Write $S$ for the trapped surface andThe equality follows because the causal future of a compact set is closed in a globally hyperbolic spacetime. This future horismos is a closed achronal boundary. It is nonempty: the restriction of a Cauchy time function to compact $S$ has a minimum, and a point at that minimum cannot be chronologically preceded by another point of $S$.

Normalize the two future null normal directions along $S$ against a smooth future timelike field, fixing the affine scale continuously. Their initial null expansions are continuous and strictly negative. Compactness of the normalized normal bundle gives a uniform $c>0$ with ${\theta }_{\pm }\le -c$ everywhere on $S$. The preceding null focusing theorem forces a conjugate point to a spacelike surface along each normal generator within affine length $L=2/c$.

By the supplied boundary-generator result, every point of $E^{+}(S)$ is reached by an orthogonal future null geodesic which has no earlier conjugate point. No such boundary generator can remain on the boundary beyond its first focal point. Every point of $E^{+}(S)$ therefore lies inThe parameter set is compact. Future null completeness makes its geodesic flow defined throughout this common finite interval, and smooth dependence on initial data makes its image $K$ compact. Since $E^{+}(S)$ is closed and contained in $K$, it is compact. This is the compactness of the future horismos of a trapped surface step; a merely pointwise finite bound would not suffice without compactness and uniform normalization.

Choose a smooth complete timelike vector field, obtained if necessary by positive rescaling against a complete auxiliary Riemannian metric. Its inextendible integral curves of a vector field meet a chosen smooth Cauchy hypersurface $C$ exactly once. Projection along those curves defines a continuous map ${\pi }_C:E^{+}(S)\to C$. The achronal set property makes this map an injective function: two boundary points on the same timelike integral curve of a vector field would be timelike related.

An achronal boundary is a topological hypersurface without boundary, even at nonsmooth generator junctions; the submanifold property allowed in the question supplies this fact. Thus domain and codomain are both three-dimensional topological manifolds without boundary. Invariance of domain makes ${\pi }_C(E^{+}(S))$ open in $C$. Compactness makes it closed in the Hausdorff space $C$, and it is nonempty. Connectedness of the spacetime gives connectedness of $C$, so this image is all of $C$. That would make $C$ compact, contradicting the noncompact Cauchy hypersurface hypothesis. The completeness assumption is false, proving the theorem.

The noncompactness hypothesis and strict trapping are essential to this version. Global hyperbolicity cannot simply be omitted in the compactness and projection steps, and nonpositive initial expansion with zeros does not supply the uniform focusing bound used here.

Consider the discrete mapIt is an isometry: $\cos \theta$ and $d\varphi$ both change sign, leaving $\cos \theta d\varphi$ unchanged, while $d{\theta }^2$ and ${\sin }^2\theta d{\varphi }^2$ are also unchanged. A local component of its fixed-point set is $\theta =\pi /2$, $\varphi ={\varphi }_0$.

If a geodesic starts tangent to that component, the isometry fixes both its initial position and its initial tangent. Applying the isometry therefore gives a geodesic with the same initial data. Uniqueness of the geodesic equation makes it the same curve, so it remains in the fixed component. This proves that the selected submanifold is a totally geodesic submanifold; it has dimension three, not two. The proof continues through a horizon when expressed in regular coordinates, so coordinate singularities of the original chart do not invalidate it.

The geodesic conserved quantities from Killing vectors associated with ${\partial }_{\psi }$ and ${\partial }_{\varphi }$ areDots denote derivatives with respect to an affine parameter. On the chosen submanifold $\dot{\varphi }=0$ and $\cos \theta =0$, so $L_{\varphi }=0$. Requiring also $L_{\psi }=0$ givesMore generally, away from the polar-coordinate axes, both displayed angular charges being zero imply $\dot{\varphi }=0$ and the same relation. In particular, zero conserved angular momentum does not imply constant $\psi$: the motion follows the local dragging of the angular coordinate by the rotating geometry.

For the zero-angular-momentum curves, the fiber term in the induced metric tensor vanishes along the tangent, leavingfor a null geodesic. In the exterior, a future geodesic has positive conserved energy $E=(f/h)\dot{t}$. Its equations areDefine the tortoise coordinate, separately on intervals bounded by horizon radii, byFor an outgoing curve $\dot{r}=+E\sqrt{h}$,for an ingoing curve $\dot{r}=-E\sqrt{h}$, $d(t+r_{\ast })/d\lambda =0$. Thus $u=t-r_{\ast }$ and $v=t+r_{\ast }$ are the respective constant labels. The derivative $\sqrt{h}/f$, with its sign, is required for continuation; taking $\sqrt{h}/|f|$ would give the wrong labels between the horizons.

For a nonextremal horizon $r=r_H$, the tortoise coordinate has leading behaviorAt the double root of the extremal black hole it instead has a pole. These singularities are coordinate effects at a regular Killing horizon; they are not the curvature singularity at $r=0$. To cross the future horizon, the ingoing coordinatesgive the regular induced metric tensorThis also fixes the future branch used in the causal argument below.

Put $h(r)=1-\mu /r^2$. For the equatorial geodesic, the geodesic Lagrangian is $\mathcal{L}=\frac{1}{2}[-h{\dot{t}}^2+h^{-1}{\dot{r}}^2+r^2{\dot{\varphi }}^2]$, where dots denote derivatives with respect to the affine parameter. The cyclic coordinates $t,\varphi$ give constants $p_t=-h\dot{t}=-E$ and $p_{\varphi }=r^2\dot{\varphi }=L$. A third constant is the tangent norm $g_{ab}{\dot{x}}^a{\dot{x}}^b=-\kappa$, preserved by the geodesic equation and metric compatibility. For a timelike geodesic rescale the affine parameter to proper time so $\kappa =1$; for a null geodesic $\kappa =0$.

Substitute $\dot{t}=E/h$, $\dot{\varphi }=L/r^2$ into the norm identity and multiply by $h$. It gives the effective potential equationOutside the horizon $r=\sqrt{\mu }$, its derivative is $V^{\prime }=-(L^2-\kappa \mu )/r^3+2\mu L^2/r^5$. A nontrivial circular null geodesic requires $L\ne 0$, givingFor a circular timelike geodesic,At it $V^{\prime \prime }=-4\mu L^2/r^6<0$, and its radius exceeds $\sqrt{2\mu }$. If $L^2\le \mu$ no finite circular timelike radius exists. Thus all finite circular null and timelike orbits in this five-dimensional exterior are radially unstable. The energy of a circular orbit is fixed by $E^2=2V(r)$, not independently arbitrary.

For comparison, with four-dimensional Schwarzschild horizon radius $r_s$, the photon circle is at $3r_s/2$ and is unstable. Circular timelike orbits exist for $r>3r_s/2$; they are unstable below $3r_s$, marginal at $3r_s$ and stable above $3r_s$. The five-dimensional potential has no corresponding stable outer circular timelike branch.

For a regular parameter $t$, the curvature and torsion of a space curve areThe torsion of a space curve requires $\kappa \ne 0$. Reparameterize by arc length $s$ and set $T={\alpha }_s$, $N=T_s/\kappa$, $B=T\times N$. Differentiating the pairwise inner products of this orthonormal Frenet frame shows that its derivative matrix is skew symmetric. Since $T_s=\kappa N$, defining $\tau =N_s\cdot B$ gives the Frenet-Serret formulasThe fundamental theorem of regular space curves says that prescribed smooth $\kappa >0$ and smooth $\tau$ on an interval determine a unit-speed curve uniquely up to an orientation-preserving Euclidean rigid motion. Solve this frame's linear differential equation with an initial oriented orthonormal frame, then integrate ${\alpha }_s=T$; uniqueness proves the assertion.

Under the intended convention that the shared parameter $s$ is arc length, equality on an open interval gives equal position and equal Frenet frames at one point. Equal $\kappa ,\tau$ give identical differential equations, so uniqueness gives $\boxed{\tilde{\alpha }=\alpha \text{ on }I}$. The printed “regular smooth” hypothesis alone does not establish this convention. Without common arc length, an orientation-preserving smooth change of speed that is the identity on $J$ but not elsewhere reparameterizes a circle into a counterexample: both curves have $\kappa =1$, $\tau =0$ and agree on $J$, but differ elsewhere as parameterized curves.

For an oriented surface with unit normal $n$, define normal curvature ${\kappa }_n=T_s\cdot n$ and geodesic curvature ${\kappa }_g=T_s\cdot (n\times T)$. ThusA unit-speed curve is a geodesic exactly when ${\kappa }_g=0$. If also ${\kappa }_n\equiv 0$, then $T_s=0$, so it is a straight line. A vertical ruling of a circular cylinder is such a geodesic, although the cylinder contains no open piece of a plane. A nonconstant regular straight line cannot be a simple closed curve. Hence no planar patch is required, and such a geodesic cannot be simple and closed.

Finally let the principal curvatures be ${\kappa }_1,{\kappa }_2$. If the Gaussian curvature $K={\kappa }_1{\kappa }_2\ge 0$, they have the same sign or one vanishes. Euler formula for normal curvature makes ${\kappa }_n$ a weighted average of them. For a geodesic, $\kappa =|{\kappa }_n|$, soA horizontal circle on a cylinder of radius $R$ is a geodesic with $\kappa =1/R$, $K=0$, $|H|=1/(2R)$, attaining equality.

The length of a curve is $L(\alpha )={\int }_a^b\Vert {\alpha }^{\prime }(t)\Vert dt$. Its arc length parameter is $s(t)={\int }_a^t\Vert {\alpha }^{\prime }(u)\Vert du$. Regularity gives $s^{\prime }(t)>0$, so the inverse function theorem gives a smooth inverse and $\beta (s)=\alpha (t(s))$ has $\Vert {\beta }^{\prime }(s)\Vert =1$.

Reparametrize a length minimizer to constant speed on $[a,b]$ and use the energy functional $E=\frac{1}{2}{\int }_a^b\Vert {\alpha }^{\prime }{\Vert }^{2}dt$. By Cauchy-Schwarz inequality, every competitor has $E\ge L^2/(2(b-a))$, with equality for constant speed, so this parametrization also minimizes $E$. For a fixed-endpoint variation with tangential vector field $V$, differentiation and integration by parts giveThe boundary term is zero. Arbitrary smooth tangential $V$ of compact interior support are realizable by the stated variation fact. Taking $V$ to be a nonnegative cutoff times ${\nabla }_t{\alpha }^{\prime }$ proves ${\nabla }_t{\alpha }^{\prime }=0$. Hence a length minimizer is a geodesic after constant-speed reparametrization. The original parameter need not be affine: arbitrary varying-speed parametrizations preserve length but have nonzero covariant acceleration. This qualification is necessary for the literal wording.

For distinct nonantipodal $p,q$ on the punctured unit sphere, there is a unique shorter great circle arc, of length $d=\arccos (p\cdot q)<\pi$. A minimizing curve exists exactly when that shorter arc avoids the removed north pole. If it avoids the pole it attains the spherical lower bound. If it passes through the pole, arbitrarily small smooth detours have lengths tending to $d$, but equality would force the unique shorter arc, which is unavailable. Thus the infimum is not attained; the longer great circle arc is not a substitute minimizer.

For antipodal $p,q$ in the punctured sphere, one can choose a great circle semicircle avoiding the north pole; it attains length $\pi$. Thus every admissible antipodal pair has a minimizer. If identical endpoints are included despite the earlier distinctness stipulation, the infimum is zero, but no smooth regular curve attains it; only a nonregular constant curve does.