With constant rest mass, and the chain rule gives . Hence the laboratory relativistic force is
Use the vector triple product identity , and , to obtain
The relativistic energy is , whose time derivative is . Taking the dot product of the first expression for with gives the same quantity, because . Thus . Since , the four-force is
Its tensor contraction with the four-velocity vanishes: . This orthogonality also follows by differentiating . Resolving the laboratory acceleration relative to gives and .

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