5

One definition for a tangent vector on a manifold goes like this:

We have a differentiable manifold $X$, a point $x \in X$, and two curves $\alpha, \beta:(-1,1) \to X$. Then $\alpha$ is equivalent to $\beta$ at $x$ iff $\alpha(0)=\beta(0)=x$, and for a chart $\phi:X \to \mathbb{R}^n$ we have $(\phi \circ \alpha)'(0)=(\phi \circ \beta)'(0)$. The equivalence class of all such curves is called a tangent vector.

I've got two questions, both of which may be nonsensical, but here goes.

The key piece of information here seems to be $(\phi \circ \alpha)'(0)$ (for any $\alpha$ in our equivalence class). Why bother about the curves at all when this is all we're interested in? Why not define the tangent vector to be $(\phi \circ \alpha)'(0)$, in some sense? As a linear map ($\Bbb{R} \to \Bbb{R}^n$) it does not belong to the manifold, of course, but neither does an equivalence class of curves, right?

The second question is, isn't it true that for any $v \in \Bbb{R}^n$, $v$ will be the differential of some curve(s) through $x$ (or I guess, more precisely, the value of that differential at 1)? In that case, why isn't the tangent space simply all of $\Bbb{R}^n$?

I have only the most tenuous grasp on all of this, so the simpler (and more elementary) the answer, the more likely I am to understand it.

A_P
  • 1,007

1 Answers1

10

A few preliminary remarks about the definition: there is actually no need for $\alpha$ to be defined on $(-1,1)$; all you need is for $\alpha$ to be defined on a small interval $(-\varepsilon, \varepsilon)$ containing the origin $0$. Second, a chart $\phi$ may not necessarily be defined on the entire manifold $X$, only some open set $U$.


First Question:

One recurring idea in basic manifold theory is that given any familiar concepts in $\Bbb{R}^n$, we want to generalize it to the context of manifolds in a well-defined manner. Here I'm using the term "well-defined" to mean that the particular concept being developed doesn't rely on any "additional choices". In particular, we do not want the concepts of manifold theory to depend on the particular chart $(U, \phi)$ we choose.

Now, I'll address your first question. It is a bad idea to define a tangent vector at a point $x \in X$ to be an element $(\phi \circ \alpha)'(0) \in \Bbb{R}^n$, because in making this definition, you have made a choice of chart $(U,\phi)$. What if someone else comes along and they use a different chart, say $(V,\psi)$ ? Then their definition of tangent vector would be the element $(\psi \circ \alpha)'(0) \in \Bbb{R}^n$. But then we have a conflicting notion: we're talking about the same curve $\alpha$, but according to you, the tangent vector is $(\phi \circ \alpha)'(0)$, but to someone else, the tangent vector is $(\psi \circ \alpha)'(0)$... so which should it be?

I hope the above remark illustrates to you that it is the actual curve $\alpha$ which contains the key geometric information of "tangent-ness". The chart $(U,\phi)$ only comes in to allow us to make standard mundane calculations using numbers. Therefore, from a purely logical perspective, it is a bad idea to define a tangent vector to be $(\phi \circ \alpha)'(0)$ (we run into inconsistencies). On the other hand, it is easy to verify using the chain rule that if $\alpha, \beta : (-\varepsilon, \varepsilon) \to X$ are smooth curves with $\alpha(0) = \beta(0) = x$, then for any pair of charts $(U, \phi)$ and $(V, \psi)$ of the manifold $X$ we have \begin{align} \text{$(\phi \circ \alpha)'(0) = (\phi \circ \beta)'(0)$ if and only if $(\psi \circ \alpha)'(0) = (\psi \circ \beta)'(0)$} \end{align}

In other words, if two curves $\alpha$ and $\beta$ are equivalent with respect to one chart, then they are equivalent with respect to any other chart. Therefore, the actual equivalence class $[\alpha]$ is an object which is completely-independent of charts.

I hope you realize the logic: we initially use a chart to define the equivalence relation, but after that we actually prove that the equivalence relation actually doesn't depend on the chart. Therefore the equivalence classes are actually chart-independent and therefore qualify (from a logical perspective) as something which can be called a tangent vector at $x$.


Second Question

I hope you are now convinced from my above answer as to why a tangent vector should really only be an equivalence class of curves $[\alpha]$, rather than a vector $(\phi \circ \alpha)'(0)$. Now, you have made a very good observation, which is that every vector $v \in \Bbb{R}^n$ is the differential of some smooth curve in the manifold (technically you need to compose the curve with a chart map, and evaluate the differential at $1\in \Bbb{R}$). Let me make your informal statement more explicit:

Proposition:

Let $X$ be an $n$-dimensional smooth manifold, and fix a point $x \in X$. Suppose we are given a chart $(U,\phi)$ containing the point $x$. Now, define the function $G_{\phi,x}: T_xX \to \Bbb{R}^n$ by the rule \begin{align} G_{\phi,x} \big( [\alpha] \big) &:= (\phi \circ \alpha)'(0) \end{align} Then, $G_{\phi,x}$ is a bijective map (equivalently invertible), and its inverse $G_{\phi,x}^{-1} : \Bbb{R}^n \to T_xX$ is given by the rule \begin{align} G_{\phi,x}^{-1}(v) = \left[ t \mapsto \phi^{-1}(\phi(x) + tv) \right] \end{align}

I'll leave it to you to prove the proposition, but let me highlight some (perhaps subtle) things. First of all, the function $G_{\phi,x}$ is well-defined in the sense that although we used a particular representative curve $\alpha$ belonging to the equivalence class $[\alpha]$, the RHS of $G_{\phi,x}\big([\alpha] \big) = (\phi \circ \alpha)'(0)$ doesn't depend on this choice of curve (precisely because of how we defined the equivalence relation).

Next, the expression $\left[ t \mapsto \phi^{-1}(\phi(x) + tv) \right]$ deserves some explanation. This notation means to first consider the function $\alpha$ defined by $\alpha(t) := \phi^{-1}(\phi(x) + tv)$ (since $\phi$ is a homeomorphism, the domain of $\alpha$ contains a small neighbourhood of $0$, and you can check that $\alpha(0) = x$ and that $\alpha$ is infact a $C^{\infty}$ curve). So, the notation just means to consider the equivalence class of curves containing $\alpha$.

I'll now leave it to you check that the two functions of the proposition are actually inverses of each other. Next, you ask:

In that case, why isn't the tangent space simply all of $\Bbb{R}^n$?

Well, the short/uninspiring answer is that the elements of the tangent space $T_xX$ and $\Bbb{R}^n$ are completely different objects, therefore they cannot be equal. However, what the above proposition shows is that by CHOOSING a particular chart $(U,\phi)$ contianing the point $x$, we have established a bijection between $T_xX$ and $\Bbb{R}^n$. This is a very useful thing to know, because hopefully you recall the following basic linear algebra result (forgive my notation... I'm running out of letters):

Proposition: Let $V$ be any set, let $W$ be a vector space over $\Bbb{R}$, and suppose we have a bijection $G:V \to W$. Then, we can define addition and scalar multiplication on $V$ such that $G$ is an isomorphism of vector spaces. More explicitly, for any $\xi_1, \xi_2 \in V$ define their sum to be \begin{align} \xi_1 + \xi_2 &:= G^{-1} \big(G(\xi_1) + G(\xi_2) \big) \end{align} and for any scalar $c \in \Bbb{R}$, and any $\xi\in V$, define \begin{align} c \cdot \xi := G^{-1}\big(c \cdot G(\xi) \big) \end{align}

Therefore, using a particular chart $(U,\phi)$, we can establish a vector space structure on $T_xX$ such that the above defined map $G_{\phi,x}: T_xX \to \Bbb{R}^n$ is a linear-isomorphism. Now, we play the same game once again: in defining this vector space structure, we used a particular chart $(U,\phi)$; it is a good exercise to check that the vector space structure is actually independent of which chart is used.

Long story short, we have now made $T_xX$ into a real vector space (in a completely well-defined chart-independent manner), such that it is isomorphic to $\Bbb{R}^n$. As a nice corollary, this shows that $T_xX$ is an $n$-dimensional vector space; i.e the manifold's dimension is equal to the tangent space dimension (both are $n$). So, no $T_xX$ is not equal to $\Bbb{R}^n$, but it is isomorphic to $\Bbb{R}^n$, and if you give me a chart $(U, \phi)$, I can explicitly write down this isomorphism. So, it is in this sense that the tangent space is "almost" like $\Bbb{R}^n$.

peek-a-boo
  • 55,725
  • 2
  • 45
  • 89
  • Thanks very much for the time you put into this! This is exactly the kind of answer I was hoping for!

    Something is still not quite clicking though. I recognize that (∘)′(0) and (∘)′(0) may have different values despite referring to the same object, but this seems similar to the fact that a vector can have different coordinate representations w.r.t different bases. Given coordinates and a basis, we know what the underlying vector "is." I don't yet see why we can't do something similar here. "The tangent vector is the object represented by (the value of) (∘)′(0) w.r.t. chart ."

    – A_P Aug 25 '19 at 03:51
  • @A_P You're right that this is similar to linear algebra where we like to distinguish between a vector (an element of a vector space) and its components relative to a basis. Here, we like to think of $[\alpha]$ as the abstract vector, and we think of $(\phi \circ \alpha)'(0)$ as its "representation" with respect to the chart $\phi$ (technically there is no mention of bases anywhere, only charts). I'm not sure I understand your second comment. If you give me a vector $v \in \Bbb{R}^n$, and if you tell me to use the chart $\phi$, then I can uniquely reconstruct the curve $\alpha$ [cont.] – peek-a-boo Aug 25 '19 at 03:56
  • [cont.] using the bijection $G_{\phi,x}$. So, the "underlying tangent-vector" corresponding to $v$ is the equivalence class of curves $(G_{\phi,x})^{-1}(v)$ – peek-a-boo Aug 25 '19 at 03:58
  • In the process of trying to make my question more precise, I might be answering it for myself. I suppose what this definition buys us is a nice way of naming tangent vectors. [] is the name of one, and is a curve on the manifold. We could perhaps instead name it as [(the value of (∘)′(0)), ], but that's more verbose and has the downside of having a chart attached (despite the thing being chart-independent). So we could define the tangent vector as "the thing the curves have in common" rather than "the collection of such curves," but it wouldn't be as useful. – A_P Aug 25 '19 at 05:23
  • In the post I ask "Why not define the tangent vector to be (∘)′(0), in some sense?" The answer is that it doesn't contain enough information. So: "Why not define it to be ((∘)′(0), )?" Because it doesn't give us a good way to name the object, unlike the straightforward "[]". Does that sound about right? – A_P Aug 25 '19 at 05:26
  • @A_P If it were up to me, I would just call a tangent vector by a single letter like $\xi \in T_xX$. But of course math doesn't care what symbols/notation/names you use, as long as the underlying concept is clear. If I say $\xi \in T_xX$, what this really means is that there exists a smooth curve $\alpha$ such that $\xi = [\alpha]$. You seem to want to think of a tangent vector as a pair (chart, vector in $\Bbb{R}^n$), like $(\phi, v)$ where $\phi$ is a chart and $v \in \Bbb{R}^n$. Is that right? Because in the older days of differential geometry, this was how people thought of tangent vectors – peek-a-boo Aug 25 '19 at 05:44
  • They used to think of a tangent vector at $x \in X$ to be an equivalence class of pairs $[(\phi, v)]$, where the equivalence relation is $(\phi,v)$ is equivalent to $(\psi, w)$ if and only if $w = D(\psi \circ \phi^{-1}){\phi(x)}(v)$. In other words, given two pairs of (chart, a vector in $\Bbb{R}^n$), these come from the same curve $\alpha$ if and only if the vectors satisfy the $w = D(\psi \circ \phi^{-1}){\phi(x)}(v)$. In this manner, people didn't even think about curves, rather they used to think of tangent vectors as "things which transform a certain way under a change of chart". – peek-a-boo Aug 25 '19 at 05:47
  • In this manner, the equivalence class $[(\phi, v)]$ is actually chart-independent, and hence well defined. But what I don't understand about your confusion is: why bother writing $((\phi \circ \alpha)'(0), \phi)$? You already used the curve $\alpha$ in the notation, so why not just write $[\alpha]$? Like I said, the vector $(\phi \circ \alpha)'(0)$ changes value if we choose different charts, but it is the curve $\alpha$ which has the chart-independent key geometric property of "tangent-ness". Alternatively, you can think of tangent vectors as "things which transform in a certain way" – peek-a-boo Aug 25 '19 at 05:56
  • "Why bother writing ((∘)′(0),)?" Sorry, my notation was confusing. By "[(the value of (∘)′(0) ..." I meant replace it with its actual value ($v$). Okay, so my original question was something like: if we have a bunch of objects agreeing on a thing, why define what we're after as the (potentially infinite) bunch of objects rather than the (already-identified, single) thing? I guess part of the answer is that even in the latter case you'll need to invoke equivalence classes, so it's not really simpler. And another part is that they did once define them this way. Thanks very much! – A_P Aug 25 '19 at 06:09