Homogeneity makes the inertial transformation linear. Align origins at t=t′=0, let the second origin have velocity v, and impose isotropy and reciprocity. Then x′=γ(v)(x−vt), y′=y, z′=z. If the same limiting signal speed c has trajectories x=±ct in both systems, substituting these two trajectories fixes t′=γ(v)(t−vx/c2). Requiring the inverse to have the same form with −v fixes γ2(1−v2/c2)=1. Continuity at rest selects the positive square root:Light enters this derivation through the empirical/in-principle operational identification of the invariant speed and Einstein synchronization. Group, homogeneity and isotropy arguments can instead derive a family with a universal parameter K, t′=γ(t−Kvx) and γ=(1−Kv2)−1/2. They do not by themselves determine whether K=0 or a positive finite value. Empirical light propagation or other relativistic dynamics identifies K=1/c2 for our world. Consequently a derivation need not assume light as its first premise, but it must acquire the physical invariant-speed structure somewhere rather than extract it from linearity alone.[ref]
x′=1−v2/c2x−vt,t′=1−v2/c2t−vx/c2,y′=y, z′=z.
On the Electrodynamics of Moving Bodies by Albert Einstein. 1905, section 3, derivation of the coordinate transformation
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