ExDG24-25-1
ExDG24-25-1
ExDG24-25-1
Differential Geometry
Exercises
for Oct 7
1. a) Show that (R, IdR ) is a chart for the topological space R, where IdR is the identity R →
R, x 7→ x.
b) Show that (R, ψ) is a chart for the topological space R, where ψ : R → R, x 7→ x3 .
From a) it follows that R, together with the maximal smooth atlas A1 containing (R, IdR ), is
a differentiable manifold. Similarly from b) it follows that R, together with the maximal smooth
atlas A2 containing (R, ψ), is a differentiable manifold.
c) Are the differentiable manifolds (R, A1 ) and (R, A2 ) the same or are they different?
d) Are these two differentiable manifolds diffeomorphic?
2. We define the real projective space as the quotient of Rn+1 − {0} by the equivalence relation
that identifies two points if they lie on the same line through the origin. In formulae: RP n :=
(Rn+1 − {0})/ ∼, where
x ∼ y ⇔ there exists λ ∈ R : y = λx.
It is customary to denote the equivalence class of (x0 , x1 , . . . , xn ) ∈ Rn+1 − {0} by [x0 : x1 : · · · : xn ].
a) Show that RP n has a natural structure of smooth manifold of dimension n.
b) Show that the canonical projection π : Rn+1 − {0} → RP n , sending an element to its
equivalence class, is differentiable.
3. Let M be a smooth manifold of dimension n, and ϕ : U → ϕ(U ) a homeomorphism from an open
subset U of M to an open subset of Rn . Recall that ϕ(U ) has a canonical structure of differentiable
manifold.
Show: ϕ is a diffeomorphism iff (U, ϕ) belongs to the maximal smooth atlas of the differentiable
manifold M .
4. Let M, N be differentiable manifolds and f : M → N a differentiable map.
a) Show that the cartesian product M × N has a smooth manifold structure induced from
that of M and N .
b) Show that
graph(f ) := {(q, f (q)) : q ∈ M }
is a submanifold of M × N .
5. Let f : M1 → M2 be a smooth map between manifolds. Let N1 a submanifold of M1 and N2 a
submanifold of M2 such that f (N1 ) ⊂ N2 . Then
f˜: N1 → N2 , p 7→ f (p)
1
is a differentiable map. Here N1 has the smooth manifold structure inherited from M1 , and similarly
for N2 .
Remark: It might be useful to use the following maps (which are obviously differentiable): the
inclusion ι : Rk 7→ Rk × Rl , x 7→ (x, 0) and the projection π : Rk × Rl → Rk , (x, y) 7→ x.
for Oct 14
6. This is an exercise about smooth maps between open subsets of Euclidean space.
a) Let τ : (−ϵ, ϵ) → Rn be a differentiable map (i.e., a smooth curve), and denote by τ ′ (0) :=
d
| τ (t) the velocity of τ at time zero. Show that
dt 0
where p = τ (0).
Remark: It might be useful to read Appendix C (Review of Calculus) in Lee’s book, until page
647. There, for a differentiable map F : U1 → U2 where Ui ⊂ Rni is open, the total derivative of F
at p is defined, and is a linear map Dp F : Rn1 → Rn2 (the notation used there is DF (p)). It satisfies
the chain rule as in Proposition C.3. The matrix representing the total derivative is given by the
Jacobian (Proposition C.8).
7. Let M be a manifold. Let (U, ϕ = (x1 , . . . , xm )) and (V, ψ = (y1 , . . . , ym )) be charts. Let p ∈
U ∩ V ̸= ∅. Recall that in class we defined bases { ∂x∂ 1 |p , . . . , ∂x∂m |p } and { ∂y∂ 1 |p , . . . , ∂y∂m |p } of Tp M .
Show that for every j we have
m
X ∂(ψ ◦ ϕ−1 )i
∂ ∂
|p = (ϕ(p)) · |p .
∂xj i=1
∂xj ∂yi
−1
Note: ψ ◦ ϕ−1 is a smooth map between open subsets of Rm . Above, ∂(ψ◦ϕ ∂xj
)i
(ϕ(p)) denotes the
j-th partial derivative of the i-th component of this map, evaluated at the point ϕ(p).
Recall: By definition, the basis { ∂x∂ 1 |p , . . . , ∂x∂m |p } corresponds to the standard basis of Rm under
the linear isomorphism Tp M → Rm , [γ] 7→ (ϕ ◦ γ)′ (0).
8. Show that if M, N, L are differentiable manifolds and f : M → N , g : N → L differentiable maps,
then:
a) g ◦ f : M → L is a differentiable map.
b) The chain rule holds: for every p ∈ M we have ((g ◦ f )∗ )p = (g∗ )f (p) ◦ (f∗ )p .
9. a) Let S be a submanifold of a manifold M . Show that the inclusion map i : S → M, p 7→ p is
differentiable, and that for any x ∈ S the derivative
(i∗ )x : Tx S → Tx M, [γ] → [i ◦ γ]
is injective.
2
Remark: Hence, identifyng Tx S with (i∗ )x (Tx S), we can regard Tx S as a linear subspace of Tx M .
for Oct 21
10. Consider
M := {(x, y, z) ∈ R3 : x2 + y 2 − z = 0}.
11. Let x1 , y1 , ..., xn , yn be the standard coordinates on R2n . Let S 2n−1 be the unit sphere in R2n .
a) Show that
n
X ∂ ∂
−yi + xi ,
i=1
∂xi ∂yi
restricted to S 2n−1 , is a vector field on S 2n−1 .
b) Argue that this vector field on S 2n−1 is no-where vanishing.
Remark: Hence on all odd-dimensional spheres there is a no-where vanishing vector field. In
contrast, one can show that on even-dimensional spheres, every vector field has a zero.
12. Let X be a vector field on a manifold M .
a) Let γ : (a, b) → M be an integral curve of X. Then for any t0 ∈ (a, b), the curve
τ : (a − t0 , b − t0 ) → M, τ (t) = γ(t + t0 )
3
15. Let X, Y be vector fields on a smooth manifold M , and denote by X̄, Ȳ the corresponding
derivations of C ∞ (M ) (that is: X̄(f ) = f∗ X for all functions f ). Show that
X̄ ◦ Ȳ − Ȳ ◦ X̄
is a derivation of C ∞ (M ).
16. Consider R2 with coordinates x1 , x2 . Calculate the following Lie brackets of vector fields in
two ways: using the definition of Lie bracket in terms of derivations, and using the formula in
coordinates given in class.
a) [x1 ∂x∂ 2 , x1 ∂x∂ 2 ]
b) [x1 ∂x∂ 2 , ∂x∂ 1 ].
Remark: Here ∂x∂ 1 and ∂
∂x2
are the vector fields on R2 obtained translating the canonical basis
{(1, 0), (0, 1)}.
17. Let ϕ : M → N be a diffeomorphism X ∈ X(M ), Y ∈ X(N ). Then ϕ∗ X = Y if and only if
ϕ ◦ FtX = FtY ◦ ϕ
for all t such that FtX is defined. Here F X denotes the flow of X, and similarly for Y .
18. Consider R2 with coordinates x1 , x2 . Using the definition of Lie derivative, compute L ∂ (x1 ∂x∂ 2 ). for Nov 4
∂x1
Remark: The point is to compute this just using the definition of Lie derivative, and not using
the fact that the Lie derivative equals the Lie bracket.
Section 4: Bundles
19. Let π : E → B a fiber bundle with typical fiber F . Show that F is compact if and only if π is
a proper map.
Remark: A map f : X → Y between topological spaces is proper if for all compact subsets K ⊂ Y ,
the preimage f −1 (K) is also compact.
20. a) Consider the vector bundle
E := ([0, 1] × R)/ ∼ → S 1 ,
where ∼ is the equivalence relation (0, t) ∼ (1, −t) for all t ∈ R. Does there exist a section of E
that is nowhere-vanishing?
b) Exhibit two non-isomorphic vector bundles of rank 1 over the circle S 1 .
Remark: One can show that there are exactly two isomorphism classes of rank 1 vector bundles
over S 1 .
21. Let π : E → M be a vector bundle of rank n.
Show that E is isomorphic to the vector bundle M × Rn → M iff there exists a frame of sections
of E (defined over the whole of M ). Given such a frame, construct explicitly an isomorphism
E∼ = M × Rn .
for Nov 13
22. Let E be a vector bundle over a manifold M .
Prove that for all x ∈ M one can construct an inner product (i.e. a symmetric, positive definite
bilinear form)
gx : Ex × Ex → R
4
which depends smoothly on x.
Observation: “g depends smoothly on x” means: g(v, w) is a smooth function on M for all smooth
sections v, w of E.
Advice: Partition of unity.
∂ ∂ ∂ ∂ ∂ ∂ ∂
a) Compute (dx ∧ dy ∧ dz)( ∂y , ∂x , x ∂z ) and (dy ∧ dz)(x ∂y + z ∂z , x ∂x + z ∂y ).
b) Find two vector fields X and Y on R3 , linearly independent at each point, such that
26. Consider the smooth map F : R2 → R2 , F (x, y) = (x, xy). Denote by u, v the standard coordi-
nates on the second copy of R2 .
a) Compute the derivative of F at every point of R2 .
b) Compute the pullback of the one-forms du and dv, that is: compute F ∗ (du) and F ∗ (dv).
27. Recall that an orientation on a (real, finite dimensional) vector space V is a choice of equivalence
class of ordered bases of V , under the equivalence relation
5
Section 6: The exterior derivative and Stokes’ theorem
28. Let M be a manifold, ω ∈ Ωk (M ). For all vector fields X1 , . . . , Xk+1 on M , define for Nov 25
k+1
X
Ω(X1 , . . . , Xk+1 ) := (−1)i+1 Xi (ω(X1 , . . . , X̂i , . . . , Xk+1 ))
i=1
X
+ (−1)i+j ω([Xi , Xj ], X1 , . . . , X̂i , . . . , X̂j , . . . , Xk+1 ).
i<j
Here Xi (g), for g := ω(X1 , . . . , X̂i , . . . , Xk+1 ), is to be understood as the derivation associated to
Xi applied to g, that is, as g∗ (Xi ). Further, [·, ·] denotes the Lie bracket of vector fields, and X̂i
means that Xi is omitted.
a) Show that Ω is skew-symmetric.
b) Show that for any f ∈ C ∞ (M )
Ω(f X1 , . . . , Xk+1 ) = f · Ω(X1 , . . . , Xk+1 ).
c) Let p ∈ M . Use a) to show that if there exists j ∈ {1, . . . , k + 1} such that Xj vanishes at
p, then Ω(X1 , . . . , Xk+1 ) also vanishes at the point p.
d) Let p ∈ M , v1 , . . . , vk+1 ∈ Tp M , and for every i ∈ {1, . . . , k + 1} let Xi be any vector field
on M with (Xi )p = vi . Show that Ω(X1 , . . . , Xk+1 )(p) depends only on v1 , . . . , vk+1 , and not on the
choice of vector fields Xi extending the vectors vi .
Hint for a): a multilinear form α is skew-symmetric iff inserting twice the same vector always
gives zero, i.e. α(· · · , v, · · · , v, · · · ) = 0 for all vectors v.
Hint for b): one has [X, f Y ] = X(f ) · Y + f · [X, Y ].
Remark: From d) we conclude that Ω is a k + 1-form on M . In fact, one can show that Ω = dω!
This provides a useful, alternative characterization of the exterior derivative.
29. Let M = R2 .
a) Does there exist f ∈ C ∞ (M ) such that df = xdy?
b) Does there exist f ∈ C ∞ (M ) such that df = xdy + ydx?
R be ∗a manifold, and β a 1-form on M . Assume that for all smooth maps τ : [0, 1] → M
30. Let M
we have [0,1] τ β = 0.
Show that β = 0 (i.e. β(v) = 0 for all v ∈ T M )
Remark: Recall that for 1-dimensional manifolds with boundary, as charts we also allow homeo-
morphisms to open subsets of {x ∈ R | x ≥ 0}.
31. Consider the 1-form on R2 − {0} given by
x · dy − y · dx
α := .
x2 + y 2
Let i : S 1 → R2 − {0} be the inclusion, where S 1 is the unit circle (with the “counter-clockwise”
orientation).
a) Compute S 1 i∗ α
R
6
result of a)?
d) Let γ be a smooth curve in R2 − {0} very close to the origin which goes once around
the origin, and assume that the image of γ is a submanifold N of R2 − {0}. Endow N with R the
“counter-clockwise” orientation. Let us denote by j : N → R2 − {0} the inclusion. Compute N j ∗ α.
Hint for a): Notice that i∗ α = i∗ (x · dy − y · dx) and use Stokes’theorem.
for Dec 2
32. Decide if the following statements are true or false for all manifolds M , and provide a proof:
a) For every integer k ≥ 1 and every k-form α ∈ Ωk (M ), we have α ∧ α = 0.
b) If β ∈ Ω(M ) and γ ∈ Ω(M ) are both closed, then β ∧ γ is closed.
c) If β ∈ Ω(M ) is exact and γ ∈ Ω(M ) is closed, then β ∧ γ is exact.
33. Let M be a manifold, and N an n-dimensional oriented compact submanifold. Show that the
map Z
n
H (M ) → R, [α] 7→ i∗ α
N
is well-defined. Here i : N → M is the inclusion map.
34. Let M be a manifold. Show that the map
H p (M × N ) ∼ p
= ⊕k=0 H k (M ) ⊗ H p−k (N ).
Section 8: Foliations
7
the union of a “spiral” and a circle. Is N an immersed submanifold of R3 ? Prove or disprove.
37. Let D be a distribution (not necessarily involutive) on a manifold M . For any p ∈ M , show
that there is a submanifold N of M such that p ∈ N and Tp N = Dp .
Why isn’t this a contradiction to the Frobenius theorem?
38. Let M be a manifold, α ∈ Ω1 (M ) a nowhere-vanishing one-form.
a) Show: ker(α) is an involutive distribution iff α ∧ dα = 0.
b) Show that for any ω ∈ Ω2 (M ) we have:
.
Remark: putting together these facts we get that ker(α) is an involutive distribution iff there
exists β ∈ Ω1 (M ) such that dα = α ∧ β.
39. Let S 3 = {(z, w) ∈ C2 : |z|2 + |w2 | = 1} be the unit 3-sphere. Consider this equivalence relation
on S 3 :
(z, w) ∼ (z ′ , w′ ) ⇔ z ′ = eiθ z, w′ = eiθ w for some θ ∈ R.
Show that the equivalence classes form a foliation on S 3 . It is called Hopf foliation.
for Dec 16
40. Let G be a Lie group (not necessarily connected). Show that any two connected components
of G are diffeomorphic to each other.
41. Show that the map
3 α β
Φ : S → SU (2), (α, β) 7→
−β̄ ᾱ
is a diffeomorphism. Here we view S 3 as the set of unit-lenght vectors on C2 .
Hint: You can use the fact that any continuous bijection from a compact topological space to
a Hausdorff topological space is a homeomorphism.
Remark: It follows that SU (2) is a simply connected Lie group.
42. Let G1 and G2 be Lie groups, denote by g1 and g2 their Lie algebras. Consider the direct sum
Lie algebra g1 ⊕ g2 (i.e. the Lie bracket is [(v1 , v2 ), (w1 , w2 )] := ([v1 , w1 ]g1 , [v2 , w2 ]g2 ).) Show that the
Lie algebra of the product Lie group G1 × G2 is isomorphic (as a Lie algebra) to g1 ⊕ g2 .
43. a) Show that the Lie algebra of SO(3) = {A ∈ M at(3, R) : AAT = I} is
8
where the bar denotes the conjugate matrix.
c) Show that the map ϕ : so(3) → su(2) determined by
0 0 0
0 0 1 7→ 1 0 i
2 i 0
0 −1 0
0 0 1
0 0 0 7→ 1 0 −1
2 1 0
−1 0 0
0 1 0
−1 0 0 7→ 1 i 0
2 0 −i
0 0 0