Affine connection ($\nabla$)

An affine connection on a smooth manifold is a connection on a vector bundle for its tangent bundle. It satisfies ${\nabla }_{fX}Y=f{\nabla }_{X}Y$ and ${\nabla }_X(fY)=X(f)Y+f{\nabla }_{X}Y$. Its curvature isThe Leibniz rule makes curvature tensorial in all three slots. An affine connection is also called a linear connection on the manifold; a Levi-Civita connection is the distinguished torsion-free metric-compatible example.

Two torsion-free connections are projectively equivalent if they have the same unparametrized geodesics. Their difference of affine connections is a tensor $S$. A change of parameter adds only tangential acceleration, so equality of curves requires $S(v,v)$ to be parallel to $v$ for every tangent vector. The symmetric bilinear diagonal-parallel lemma gives exactly the displayed condition. Conversely the geodesic reparametrization under projective equivalence absorbs this tangential term. Agreement with the same affine parameters instead forces $S=0$.

Let $\tau$ be an affine parameter for a geodesic of $\nabla$ and suppose ${\bar{\nabla }}_{X}Y-{\nabla }_{X}Y=V(X)Y+V(Y)X$. Then ${\bar{\nabla }}_{\dot{\gamma }}\dot{\gamma }=2V(\dot{\gamma })\dot{\gamma }$. For the new velocity $d\gamma /dt=\dot{\gamma }/t^{\prime }$, the acceleration is $(t^{\prime }{)}^{-2}[{\bar{\nabla }}_{\dot{\gamma }}\dot{\gamma }-(t^{\prime \prime }/t^{\prime })\dot{\gamma }]$, which vanishes under the displayed differential equation. Its nonzero solution $t^{\prime }=C\exp (2\int V(\dot{\gamma })d\tau )$ changes the parameter while preserving the curve.

For two projectively equivalent connections that are Levi-Civita connections, contraction of their difference gives $(n+1)V_c={\bar{\Gamma }}^a{}_{ac}-{\Gamma }^a{}_{ac}$. The Jacobi formula gives ${\Gamma }^a{}_{ac}={\partial }_c\log \sqrt{|\det g|}$. Subtraction proves the displayed expression. The two determinant densities transform by the same coordinate Jacobian factor, so their ratio is a scalar and its derivative a covector. The formula is a necessary consequence of projective equivalence, not a test asserting that arbitrary metric tensors have identical geodesics.

Specify the displayed rule on left-invariant vector fields and extend by the Leibniz rule to an affine connection on the Lie group. In a left-invariant vector field frame $L_i$, the extension is ${\nabla }_{L_i}(z^j{L}_j)=L_i(z^j)L_j+\lambda z^j[L_i,L_j]$. Applying the bare bracket formula to arbitrary vector fields instead would violate the Leibniz rule unless $\lambda =1$. With $R(X,Y)Z={\nabla }_X{\nabla }_{Y}Z-{\nabla }_Y{\nabla }_{X}Z-{\nabla }_{[X,Y]}Z$, the Jacobi identity givesfor left-invariant arguments, where $B$ is the Killing form and $\mathrm{Ric}(X,Y)=\mathrm{tr}(Z\mapsto R(Z,X)Y)$. These identities determine the tensor fields everywhere. The endpoints $\lambda =0,1$ have zero curvature, with respectively left- and right-invariant parallel frames, and opposite torsion tensors. The midpoint $\lambda =1/2$ is torsion-free but need not have zero curvature.

For a local basis $e_a$ of the tangent bundle, an affine connection has components defined by ${\nabla }_{e_c}{e}_b={\Gamma }^a{}_{bc}{e}_a$. If $V=V^b{e}_b$, then $({\nabla }_{e_c}V{)}^a=e_c(V^a)+{\Gamma }^a{}_{bc}{V}^b$. The connection components depend on the chosen basis and have an inhomogeneous transformation law; they are not themselves a tensor field. In a coordinate basis, a torsion-free connection has symmetry in the two lower indices.

For an affine connection, let ${\gamma }_X$ be the affinely parametrized geodesic starting at $p$ with velocity $X$. Define the exponential map by the displayed formula for initial velocities whose geodesics exist until parameter one. It is defined near zero, has differential equal to the identity there, and obeys ${\exp }_p(tX)={\gamma }_X(t)$ wherever defined. This construction requires no metric and extends the metric exponential map.

Identify $T_{p}M$ with coordinate vectors using a basis and invert the affine exponential map near zero. Radial geodesics then have coordinates $sX$. Their equations imply ${\Gamma }^{\lambda }{}_{\mu \nu }(p)X^{\mu }{X}^{\nu }=0$ for every $X$, hence the displayed vanishing of the symmetric part. The antisymmetric part may survive when the torsion tensor is nonzero. For a general connection the Levi-Civita connection coefficients and first metric derivatives need not vanish in these coordinates.

Relative to a nondegenerate metric tensor, any affine connection is uniquely the Levi-Civita connection plus a contorsion tensor contribution and a disformation tensor contribution. In derivative-last notation, with $T_{ab}{}^c={\Gamma }^c{}_{ab}-{\Gamma }^c{}_{ba}$ and $N_{abc}={\nabla }_c{g}_{ab}$, the lowered difference is $A_{abc}=\frac{1}{2}(T_{abc}+T_{bca}-T_{cab}+N_{abc}-N_{bca}-N_{cab})$. This follows by solving $T_{abc}=A_{abc}-A_{bac}$ and $N_{abc}=-A_{acb}-A_{bca}$. The difference of affine connections is a tensor.

Given a metric tensor and an affine connection, $N_{abc}={\nabla }_c{g}_{ab}$ measures failure of metric compatibility. It is symmetric in $a,b$. Some authors instead define nonmetricity as $-\nabla g$, so formulas must specify the sign. Together with the torsion tensor, it determines the difference from the Levi-Civita connection.

With derivative-last connection coefficients and $N_{abc}={\nabla }_c{g}_{ab}$, the displayed tensor is the symmetric-in-$a,b$ correction associated with the nonmetricity tensor. Raising its final slot gives the correction to connection coefficients. It vanishes for metric compatibility. Reversing the sign used to define nonmetricity reverses this formula.

The torsion of an affine connection is the displayed antisymmetric tensor. It measures the failure of the antisymmetrized covariant derivative to agree with the Lie bracket of vector fields. With derivative-last coefficients ${\nabla }_{\mu }{Y}^{\rho }={\partial }_{\mu }{Y}^{\rho }+{\Gamma }^{\rho }{}_{\nu \mu }{Y}^{\nu }$, its components are ${\mathcal{T}}^{\rho }{}_{\mu \nu }={\Gamma }^{\rho }{}_{\nu \mu }-{\Gamma }^{\rho }{}_{\mu \nu }$. Some conventions use the negative component tensor. Geodesic equations depend on the symmetric connection coefficients, so they alone cannot detect torsion.

For a metric-compatible affine connection, its difference from the Levi-Civita connection is the contorsion tensor. It is determined by the torsion tensor. In derivative-last notation let $T_{ab}{}^c={\Gamma }^c{}_{ab}-{\Gamma }^c{}_{ba}$, the negative of geometric torsion, and lower the last slot with the metric tensor. Then $C_{abc}=\frac{1}{2}(T_{abc}+T_{bca}-T_{cab})$. This is the actual correction added to the Levi-Civita connection; a convention writing $\Gamma =S-K$ has $K=-C$.

A one-form $k$ with ${\nabla }_b{k}_a=0$. If $\ell =d\varphi$ satisfies ${\nabla }_b{\ell }_a+{\ell }_a{\ell }_b=0$, then $k=e^{\varphi }\ell =d(e^{\varphi })$ is parallel.

For a Riemannian metric on an ambient manifold and an embedded submanifold, let $\pi :TN{|}_M\to TM$ be orthogonal projection. Project the restriction of a connection to an embedded submanifold to obtain $D_{X}Y=\pi {\nabla }_{X}Y$. Since $\pi Y=Y$, the Leibniz rule and linearity over smooth functions hold, making $D$ an affine connection. If the ambient connection is the Levi-Civita connection, pairing with tangent vectors shows that $D$ is a metric connection; projecting the zero-torsion identity shows it is a torsion-free connection. By uniqueness, $D$ is the induced Levi-Civita connection.

The difference of two affine connections is a smooth tensor field of type $(1,2)$. Linearity over smooth functions holds in the first slot by the connection axioms. In the second slot, the two extra terms $X(f)Y$ cancel, so $\Delta (X,fY)=f\Delta (X,Y)$. This tensoriality makes the value depend only on $X_p,Y_p$. In coordinates its components are the differences of the Christoffel symbols, although either collection of connection coefficients individually is not a tensor.

Two affine connections have exactly the same geodesics with the same parameters if and only if their difference tensor vanishes on every diagonal pair $(v,v)$. Indeed, their covariant accelerations differ by $\Delta (\dot{\gamma },\dot{\gamma })$; starting a geodesic at each arbitrary initial vector proves necessity. Polarization then says that the symmetric part of the difference is zero. This condition is stronger than agreement of unparametrized geodesic equations.

The difference of two torsion-free connections is symmetric, because subtracting their zero-torsion identities gives $\Delta (X,Y)=\Delta (Y,X)$. Agreement of parametrized geodesics makes this difference skew-symmetric as well, by parametrized geodesics determine the symmetric part of an affine connection. Over the real numbers it must therefore vanish. Without the torsion-free condition, an arbitrary skew-symmetric difference changes torsion without changing the parametrized geodesics.

For smooth spatial fields $E^i,C^i{}_j$, define a torsion-free connection on $\mathbb{R}\times {\mathbb{R}}^n$ by ${\Gamma }^i{}_{00}=-E^i$, ${\Gamma }^i{}_{0j}={\Gamma }^i{}_{j0}=-C^i{}_j/2$ and all other coefficients zero. The time geodesic equation is $\ddot{t}=0$. For $\dot{t}\ne 0$, use $t$ as affine parameter; the spatial geodesic equation becomes $d^2{x}^i/d{t}^2=E^i+C^i{}_{j}d{x}^j/dt$. In dimension three, $C^i{}_j=2{ϵ}^i{}_{kj}{B}^k$ realizes $\ddot{\mathbf{x}}=\mathbf{E}+2\mathbf{B}\times \dot{\mathbf{x}}$. Such a connection need not preserve a metric; a spacetime description of these trajectories only needs affine geometry.

Connections ${\nabla }^1,{\nabla }^2$ on $T{M}_1,T{M}_2$ give a connection onby taking the direct sum of their pullback connections. In product coordinates its Christoffel symbols have the two factor blocks and zero mixed blocks. On arbitrary fields, the ordinary derivatives of their coefficients are still taken in both factors. On fields lifted separately from the factors it satisfies ${\nabla }_{Y_1+Y_2}(X_1+X_2)={\nabla }_{Y_1}^1{X}_1+{\nabla }_{Y_2}^2{X}_2$.

For a product affine connection, its curvature satisfiesExpand the defining derivative commutator on lifted vector fields. Opposite-factor fields commute and have zero mixed covariant derivatives, leaving exactly the two factor curvatures. Tensoriality gives the formula for arbitrary tangent vectors. Thus the product connection is flat if the two factors are flat; for a product Riemannian metric this applies to its Levi-Civita connection.