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Assume $E,B>0$ for the directions and parametrizations; the boost formulas retain their signed meaning for reversed fields. A Lorentz boost with velocity $w\hat{\mathbf{z}}$ along $\mathbf{E}\times \mathbf{B}$ transforms the transverse electric field and magnetic field asIn the electric-dominated case chooseThe inequality ensures $|w|<c$, so this is an inertial frame. The field-removing boosts for perpendicular electric and magnetic fields are governed by the electromagnetic field invariants $\mathbf{E}\cdot \mathbf{B}=0$ and $E^2-c^2{B}^2>0$ explain why a purely electric inertial frame exists and a purely magnetic one does not.

The electron is not initially at rest in this convenient inertial frame: its initial velocity is $-w\hat{\mathbf{z}}$ and its initial three-momentum is $p_z^{\prime }=-{\gamma }_{w}mw$. Thereafter $p_x^{\prime }=-e{E}^{\prime }{t}^{\prime }$, while $p_z^{\prime }$ stays constant. The electric field accelerates it toward $-x$; as its relativistic energy increases, its negative transverse velocity decreases in magnitude. Defining $a=e{E}^{\prime }/m>0$ and $s=a\tau /c$ gives a useful parametric world line:Here $\tau$ is the proper time. These formulas follow by integrating $U^{\prime 0}={\gamma }_{w}c\cosh s$, $U^{\prime x}=-{\gamma }_{w}c\sinh s$, and constant $U^{\prime z}=-{\gamma }_{w}w$. Its projection onto the $t^{\prime },x^{\prime }$ plane is a hyperbola, but the spatial trajectory includes the initial transverse motion and is not a straight line.

Transforming back with $z={\gamma }_w(z^{\prime }+w{t}^{\prime })$, $t={\gamma }_w(t^{\prime }+w{z}^{\prime }/c^2)$ givesThe laboratory trajectory starts from rest toward $-x$, then bends toward $+z$. It is unbounded in $-x$ and ultimately has $u_z\to w=c^{2}B/E$ and $u_x\to -c/{\gamma }_w$. Thus the late velocity has magnitude $c$ as a limit, consistent with the relativistic energy-momentum relation, rather than undergoing a closed cyclotron orbit.

Let starred quantities denote the capacitor's rest inertial frame, $u_0={ϵ}_0{E}^2/2$, $\beta =v/c$, and $\gamma =(1-{\beta }^2{)}^{-1/2}$. Work in the uniform interplate region of an ideal parallel-plate capacitor, neglecting its fringing field of a capacitor. To transform from that rest inertial frame to a laboratory in which the capacitor moves along $+x$, use the positive-sign Lorentz transformationFor a purely electric field, the spatial block of the electromagnetic stress-energy tensor isThis is the negative of the Maxwell stress tensor: it has $-u_0$ along the electric field and $+u_0$ perpendicular to it. The stress contribution to energy transport in a moving capacitor is essential to the Lorentz transformation of the energy density and flux.

Plates parallel to $xy$. Choose ${\mathbf{E}}_{\ast }=E\hat{\mathbf{z}}$ and ${\mathbf{B}}_{\ast }=0$. The electromagnetic field tensor and electromagnetic stress-energy tensor areThe transformed nonzero independent electromagnetic field tensor components are $F^{03}=\gamma E/c$ and $F^{13}=\gamma \beta E/c$. Thus $\mathbf{E}=\gamma E\hat{\mathbf{z}}$ and $\mathbf{B}=-\gamma vE\hat{\mathbf{y}}/c^2$, consistent with $\mathbf{B}=\mathbf{v}\times \mathbf{E}/c^2$. Transforming the electromagnetic stress-energy tensor givesIn particular, the laboratory Poynting vector is $\mathbf{S}=2u_0{\gamma }^{2}v\hat{\mathbf{x}}$, and the electromagnetic energy density is $u=u_0{\gamma }^2(1+{\beta }^2)$. The ratio $S_x/u=2v/(1+{\beta }^2)$ is subluminal for $v<c$, but differs from the capacitor's velocity. The difference from a simple convective flux isThe extra term is $v{T}_{\ast }^{xx}$, the rest-frame stress multiplied by the velocity. This shows why treating stored field energy as an unstressed parcel moving rigidly with the plates misses part of the energy transport.

Plates parallel to $yz$. Now ${\mathbf{E}}_{\ast }=E\hat{\mathbf{x}}$. The rest tensors areThe electric field is parallel to the Lorentz boost, so $F^{01}=E/c$ remains unchanged and $\mathbf{B}=0$. The cancellation between $T_{\ast }^{00}$ and $T_{\ast }^{11}$ givesThere is no Poynting flux in the ideal interior in this orientation, although the region containing the electric field moves. The longitudinal negative stress contribution cancels the convective term: $S_x={\gamma }^{2}v(u_0+T_{\ast }^{xx})=0$. Field energy is removed at the receding boundary and supplied at the advancing boundary by work on the charged plates; it need not flow through the interior to accompany the moving region. At edges, omitted fringing fields provide additional local structure.

For a finite idealized interplate rest volume $V_0$, length contraction gives $V=V_0/\gamma$. The field-only integrated laboratory energies would consequently be $U_{xy}=\gamma (1+{\beta }^2)U_0$ and $U_{yz}=U_0/\gamma$, with $U_0=u_0{V}_0$. Their different transformation laws are not paradoxical: the field alone is not a closed system. Include the plates and the supports holding them apart, whose mechanical stresses balance the Maxwell stress tensor. The total closed-system four-momentum then has the ordinary Lorentz transformation law. This is the same distinction between a subsystem and a conserved whole that appears in b.

A symmetry is a transformation of a physical system that preserves its laws: it maps admissible solutions and consistently transformed data to admissible solutions. The central symmetry of special relativity is Lorentz invariance, expressing equivalence of inertial frames and preservation of the Minkowski interval and the universal speed of light. With spacetime translations included, the spacetime symmetry group is the Poincaré group.

A practical sufficient check is to express an equation as an equality between Lorentz tensors of the same type, with every repeated upper/lower pair correctly contracted and the same free indices on both sides. Every ingredient, including sources and background fields, must have its stated Lorentz transformation rule. For example, $p^{\mu }{p}_{\mu }=-m^2{c}^2$ is a Lorentz scalar equality, and $d{p}^{\mu }/d\tau =q{F}^{\mu }{}_{\nu }{U}^{\nu }$ equates four-vectors. Such manifest Lorentz covariance makes the form of the equation the same in every inertial frame.

This is a sufficient test when the transformation rules are genuine physical ones, not a guarantee from writing index symbols. A fixed preferred four-vector could make an equation formally covariant if it too were transformed, while its chosen physical background breaks Lorentz invariance. Conversely, an equation written in three-dimensional components can be fully consistent with special relativity, as the Lorentz force is, even when the covariance is not manifest.

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.

The Lorenz gauge condition is $\nabla \cdot \mathbf{A}=-c^{-2}{\partial }_t\varphi$. Substitute the electric potential and magnetic vector potential into Gauss's law:Next the Ampère-Maxwell equation, the curl of the curl identity, and the Lorenz gauge condition giveThe gradient terms cancel. Since ${\mu }_0{ϵ}_0{c}^2=1$, the time component obeys $\square (\varphi /c)=-{\mu }_{0}c\rho$, so togetherThe four-potential can be chosen to transform as a four-vector. To make the argument rigorous, choose the retarded potential with no freely added homogeneous solution. If $\square G_{\mathrm{ret}}(x)={\delta }^{(4)}(x)$, this choice isThe retarded Green function is a Lorentz scalar under proper orthochronous Lorentz transformations, and $d^{4}y$ is invariant. The four-vector rule for $J^{\mu }$ therefore proves $A^{\prime \mu }(x^{\prime })={\Lambda }^{\mu }{}_{\nu }{A}^{\nu }(x)$. More generally, transform any homogeneous initial data by this same rule. Both the wave equation and the Lorenz gauge condition are then preserved.

Qualification. The wave equation by itself cannot prove the transformation rule for every independently chosen gauge potential: the d'Alembert operator has a nontrivial kernel of a linear map. For a concrete counterexample, zero sources and zero fields admit $A^{\mu }=0$ in one inertial frame and $A^{\prime \mu }=(0,C,0,0)$ in another. Both satisfy the wave equation and the Lorenz gauge condition, but the latter is not the Lorentz transformation of zero. It is a residual Lorenz gauge symmetry, generated by $\chi =C{x}^{\prime }$. Thus the usual assertion is a covariant choice of four-potential, with a consistent gauge transformation and homogeneous data, rather than a uniqueness result from the displayed equation.

Use $c=1$ and define the total four-momentum $P^{\mu }=(E,\mathbf{P})={\sum }_i(E_i,{\mathbf{p}}_i)$. For an inertial frame moving with velocity $\mathbf{V}$ relative to the laboratory, the Lorentz boost givesChoose $\mathbf{V}$ parallel to $\mathbf{P}$ and require zero total three-momentum. ThenThis requires $E>|\mathbf{P}|$, so that the total four-momentum is timelike. Its invariant mass is $\sqrt{E^2-|\mathbf{P}{|}^2}$, the total relativistic energy in the center-of-momentum frame. If all particles are exactly parallel photons, the total four-momentum is null and no finite-velocity center-of-momentum frame exists.

Sign qualification. The minus sign printed in the source describes the laboratory's velocity in the center-of-momentum frame, or the parameter of an active Lorentz boost with a plus-sign spatial rule. It is not the velocity of the center-of-momentum frame relative to the laboratory under question 1's passive convention. For example, a single particle with $(E,P_x)=(5,3)$ has its rest frame moving at $V_x=3/5$. The printed $V_x=-3/5$ would give $P_x^{\prime }=(5/4)(3+3)=15/2$, which is not zero. This explicitly resolves the sign rather than assigning a rest frame moving away from the particle.

A passive Lorentz transformation changes the components used to describe the same events and fields while preserving the standard Minkowski metric matrix: ${\Lambda }^T\eta \Lambda =\eta$. This expresses the relation between standard clock-normalized inertial frames. An arbitrary coordinate relabeling remains possible, but generally changes that metric matrix. Active boost invariance of a physical system additionally requires the relevant dynamical symmetry; a preferred physical background can obstruct it even when every equation is written in tensor notation.

The first postulate is Einstein's principle of relativity: nongravitational laws have the same form in every inertial frame. The second states that light in vacuum propagates at the same finite speed of light $c$ in every inertial frame, independently of the source's motion. Together with the usual spacetime symmetries and calibrated coordinates, these postulates yield the Lorentz transformation. The relativity principle alone also admits the Galilean transformation with its infinite invariant-speed limit.

The laws of Newtonian mechanics have the same form in every inertial frame related by a Galilean transformation.

For motion on a fixed axis, the signed spatial four-acceleration in the instantaneous rest inertial frame is $a={\gamma }^3\dot{u}$. Its magnitude is the scalar proper acceleration. Constant signed $a$ from rest gives $\gamma u=at$ and the hyperbolic motion worldline $x=(c^2/a)(\sqrt{1+a^2{t}^2/c^2}-1)$.

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.

A radiation pattern specifies emitted power per solid angle as a function of direction. For a slowly moving point electric charge with acceleration $\mathbf{a}$, $dP/d\Omega =q^2|\mathbf{n}\times \mathbf{a}{|}^2/(16{\pi }^2{ϵ}_0{c}^3)$. Its integral over directions is the Larmor formula; its fore-aft symmetry implies zero net radiated three-momentum in the instantaneous rest inertial frame. Directional detector power includes the distinction between source emission time and arrival time.

Rapidity is a dimensionless parameter for a signed collinear velocity $u$ with $|u|<c$, defined using the inverse hyperbolic functions byHere $c$ is the speed of light, and $\tanh$ is the hyperbolic tangent. Zero velocity has zero rapidity; negative velocity has negative rapidity. Every finite real rapidity gives $|u|<c$, while $u\to \pm c$ requires $\theta \to \pm \infty$. Thus a light ray has no finite rapidity in this parametrization. The header's formula uses natural units $c=1$: its $v$ is the numerical velocity $u/c$.

For the inertial frames in the velocity-addition formula, $S^{\prime }$ moves at signed velocity $V$ along the $x$-axis of $S$. Set $\varphi =\mathrm{artanh}(V/c)$. Re-expressing the same particle in the moving inertial frame givesThe subtraction is a passive change of reference frame; the inverse adds the particle's rapidity in $S^{\prime }$ to the frame's rapidity relative to $S$. For example, $V=0.6c$ and $u^{\prime }=0.6c$ give $\varphi ={\theta }^{\prime }=\ln 2$, so $\theta =\ln 4$ and $u=c\tanh (\ln 4)=15c/17$, exactly as in the velocity-addition formula.

For a massive particle of rest mass $m>0$ moving in one spatial dimension, its energy and signed momentum areThe hyperbolic cosine is the particle's Lorentz factor, and the hyperbolic sine is $\gamma u/c$. The hyperbolic Pythagorean identity immediately gives the relativistic energy-momentum relation $E^2-c^2{p}^2=m^2{c}^4$. In the older $c=1$ notation, writing the rest mass as $M$ recovers $v=\tanh \theta$, $E=M\cosh \theta$, and $p=M\sinh \theta$. These expressions use natural units in which the factors of $c$ are numerically one; the preceding formulas restore those factors explicitly. ^[ref].

The useful simplification follows from the hyperbolic-function identity $\tanh (a+b)=(\tanh a+\tanh b)/(1+\tanh a\tanh b)$: the nonlinear velocity-addition formula becomes ordinary addition of rapidities. See iterated collinear boosts with equal rapidity for a plotted example. A common collinear Lorentz boost shifts every rapidity by the same constant, so a rapidity difference is invariant. This makes rapidity useful for relativistic factorized scattering in one spatial dimension, where two-body S-matrices depend on the difference of the incoming rapidities, with particle species fixed.

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.

A reference frame specifies how positions and times are assigned to physical events. It includes a choice of spatial axes and a procedure for relating events to time readings; different frames can describe the same event with different coordinates.

A frame attached to a laboratory is convenient for reporting apparatus measurements, while a centre-of-momentum frame can simplify collision kinematics. These are physical choices of motion, not merely different unit labels. Translating, rotating or accelerating the reference axes changes the form of the coordinate description.

An inertial frame allows force-free particles to move uniformly. In an accelerating or rotating frame, additional apparent-force terms enter the equations of motion. Comparing observations therefore requires transforming coordinates, velocities and forces consistently rather than changing only one quantity.

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 aberration is the change of an incoming ray's apparent direction between relatively moving inertial frames. It follows by applying a Lorentz transformation to a photon's four-momentum, so the effect changes angles even when the source and receiver are observing the same ray.

If a photon propagates at angle $\theta$ to the positive $x$ axis in frame $S$, and $S^{\prime }$ moves at velocity $v=\beta c$ along that axis, thenThese are propagation-direction angles; the sky position from which the light appears to arrive points in the opposite direction. That distinction avoids sign errors when applying the formula to stellar observations. The annual stellar aberration amplitude uses Earth's changing orbital velocity, whereas stellar parallax uses a changing viewing position and depends on the source's distance.

Relativistic kinematics relates positions, times, velocities, energy and momentum between inertial frames using special relativity. The Lorentz transformation changes the components while preserving the relevant Minkowski interval or Minkowski norm. It describes which motions and reactions are possible without by itself supplying the forces or reaction probability.

For a particle of rest mass $m$, its four-momentum gives $E^2-p^2{c}^2=m^2{c}^4$. At $v=0.6c$, the Lorentz factor is $1.25$, so $E=1.25m{c}^2$ and $p=0.75mc$. The relation remains the same in another inertial frame, although $E$ and $p$ separately change. Combining this invariant with conservation laws yields a reaction threshold.

For a massive particle of invariant rest mass $m$ and velocity $\mathbf{v}$ in an inertial frame,Together these form the four-momentum and satisfy $E^2-p^2{c}^2=m^2{c}^4$. At low speed, $\mathbf{p}\simeq m\mathbf{v}$; as $v\to c$ for fixed nonzero rest mass, the momentum grows without bound. The expression $\gamma m\mathbf{v}$ is not used for a massless photon; its momentum magnitude is $E/c$.

The relativistic expression also sets magnetic focusing scales. In a quadrupole magnet with $B_y=Gx$, a nearly axial charged particle has $d{p}_x/dt\simeq -q{v}_{z}Gx$ from the Lorentz force. In the small-angle approximation, $x^{\prime }=dx/dz\simeq p_x/p_z$. With constant leading longitudinal momentum $p_z$,Thus the focusing coefficient uses relativistic longitudinal momentum, rather than an uncorrected $m{v}_z$. The opposite transverse plane has the opposite focusing sign for an ideal quadrupole magnet.

For collinear motion without external forces, a rocket ejecting material backwards at constant speed $u$ in its instantaneous rest frame obeys $m{\gamma }^{2}dv+udm=0$. Here $m$ is the rocket's rest mass, including stored internal energy, and $\gamma$ is its Lorentz factor in the chosen inertial frame. The equation follows from momentum conservation, conservation of relativistic energy, and the relativistic velocity-addition formula; expelled rest mass is not simply the decrease in rocket rest mass.