General relativity

General relativity, also known as the general theory of relativity, and as Einstein's theory of gravity, is the geometric theory of gravitation published by Albert Einstein in May 1916 and is the accepted description of the gravitation of macroscopic objects in modern physics. General relativity generalizes special relativity and refines Isaac Newton's law of universal gravitation, providing a unified description of gravity as a geometric property of space and time, or four-dimensional spacetime. In particular, the curvature of spacetime is directly related to the energy, momentum, and stress of whatever is present, including matter and radiation. The relation is specified by the Einstein field equations, a system of second-order partial differential equations. John Archibald Wheeler summarized it: "Space-time tells matter how to move; matter tells space-time how to curve."

Newton's law of universal gravitation, which describes gravity in classical mechanics, can be seen as a prediction of general relativity for the almost flat spacetime geometry around stationary mass distributions. Some predictions of general relativity, however, are beyond Newton's law of universal gravitation in classical physics. These predictions concern the passage of time, the geometry of space, the motion of bodies in free fall, and the propagation of light, and include gravitational time dilation, gravitational lensing, the gravitational redshift of light, the Shapiro time delay, singularities and black holes. So far, all tests of general relativity have been in agreement with the theory. The time-dependent solutions of general relativity enable us to extrapolate the history of the universe into the past and future, and have provided the modern framework for cosmology, thus leading to the discovery of the Big Bang and cosmic microwave background radiation. Despite the introduction of a number of alternative theories, general relativity continues to be the simplest theory consistent with experimental data.

Reconciliation of general relativity with the laws of quantum physics remains a problem, however, as no self-consistent theory of quantum gravity has been found. It is not yet known how gravity can be unified with the three non-gravitational interactions: strong, weak and electromagnetic.

Einstein's theory has astrophysical implications, including the prediction of black holes, regions of space in which space and time are distorted in such a way that nothing, not even light, can escape from them. Black holes are the end-state for massive stars. Microquasars and active galactic nuclei are believed to be stellar black holes and supermassive black holes. It also predicts gravitational lensing, where the bending of light results in distorted and multiple images of the same distant astronomical phenomenon. Other predictions include the existence of gravitational waves, which have been observed directly by the physics collaboration LIGO and other observatories. In addition, general relativity has provided the basis for cosmological models of an expanding universe.

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Henri Poincaré's 1905 theory of the dynamics of the electron was a relativistic theory which he applied to all forces, including gravity. While others thought that gravity was instantaneous or of electromagnetic origin, he suggested that relativity was "something due to our methods of measurement". In his theory, he proposed that gravitational waves propagate at the speed of light. Soon afterwards, Einstein started thinking about how to incorporate gravity into his relativistic framework. In 1907, beginning with a simple thought experiment involving an observer in free fall (FFO), he embarked on what would be an eight-year search for a relativistic theory of gravity. After numerous detours and false starts, his work culminated in the presentation to the Prussian Academy of Science in November 1915 of what are known as the Einstein field equations, which form the core of Einstein's general theory of relativity. These equations specify how the geometry of space and time is influenced by whatever matter and radiation are present. A version of non-Euclidean geometry, called Riemannian geometry, enabled Einstein to develop general relativity by providing the key mathematical framework on which he fit his physical ideas of gravity. This idea was pointed out by mathematician Marcel Grossmann and published by Grossmann and Einstein in 1913.

The Einstein field equations are nonlinear and are considered difficult to solve. Einstein used approximation methods in working out initial predictions of the theory. But in 1916, the astrophysicist Karl Schwarzschild found the first non-trivial exact solution to the Einstein field equations, the Schwarzschild metric. This solution laid the groundwork for the description of the final stages of gravitational collapse, and the objects known today as black holes. In the same year, the first steps towards generalizing Schwarzschild's solution to electrically charged objects were taken, eventually resulting in the Reissner-Nordström solution, which is associated with electrically charged black holes. In 1917, Einstein applied his theory to the universe as a whole, initiating the field of relativistic cosmology. In line with contemporary thinking, he assumed a static universe, adding a new parameter to his original field equations, the cosmological constant, to match that observational presumption. By 1929, however, the work of Hubble and others had shown that the universe is expanding. This is readily described by the expanding cosmological solutions found by Friedmann in 1922, which do not require a cosmological constant. Lemaître used these solutions to formulate the earliest version of the Big Bang models, in which the universe has evolved from an extremely hot and dense earlier state. Einstein later declared the cosmological constant the biggest blunder of his life.

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General relativity can be understood by examining its similarities with and departures from classical physics. The first step is the realization that classical mechanics and Newton's law of gravity admit a geometric description. The combination of this description with the laws of special relativity results in a heuristic derivation of general relativity.

At the base of classical mechanics is the notion that a body's motion can be described as a combination of free (or inertial) motion, and deviations from this free motion. Such deviations are caused by external forces acting on a body in accordance with Newton's second law of motion, which states that the net force acting on a body is equal to that body's (inertial) mass multiplied by its acceleration. The preferred inertial motions are related to the geometry of space and time: in the standard reference frames of classical mechanics, objects in free motion move along straight lines at constant speed. In modern parlance, their paths are geodesics, straight world lines in curved spacetime.

Conversely, one might expect that inertial motions, once identified by observing the actual motions of bodies and making allowances for the external forces (such as electromagnetism or friction), can be used to define the geometry of space, as well as a time coordinate. However, there is an ambiguity once gravity comes into play. According to Newton's law of gravity, and independently verified by experiments such as that of Eötvös and its successors (see Eötvös experiment), there is a universality of free fall (also known as the weak equivalence principle, or the universal equality of inertial and passive-gravitational mass): the trajectory of a test body in free fall depends only on its position and initial speed, but not on any of its material properties. A simplified version of this is embodied in Einstein's elevator experiment, illustrated in the figure on the right: for an observer in an enclosed room, it is impossible to decide, by mapping the trajectory of bodies such as a dropped ball, whether the room is stationary in a gravitational field and the ball accelerating, or in free space aboard a rocket that is accelerating at a rate equal to that of the gravitational field versus the ball which upon release has nil acceleration.

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As intriguing as geometric Newtonian gravity may be, its basis, classical mechanics, is merely a limiting case of (special) relativistic mechanics. In the language of symmetry: where gravity can be neglected, physics is Lorentz invariant as in special relativity rather than Galilei invariant as in classical mechanics. (The defining symmetry of special relativity is the Poincaré group, which includes translations, rotations, boosts and reflections.) The differences between the two become significant when dealing with speeds approaching the speed of light, and with high-energy phenomena.

With Lorentz symmetry, additional structures come into play. They are defined by the set of light cones (see image). The light-cones define a causal structure: for each event A, there is a set of events that can, in principle, either influence or be influenced by A via signals or interactions that do not need to travel faster than light (such as event B in the image), and a set of events for which such an influence is impossible (such as event C in the image). These sets are observer-independent. In conjunction with the world-lines of freely falling particles, the light-cones can be used to reconstruct the spacetime's semi-Riemannian metric, at least up to a positive scalar factor. In mathematical terms, this defines a conformal structure or conformal geometry.

Special relativity is defined in the absence of gravity. For practical applications, it is a suitable model whenever gravity can be neglected. Bringing gravity into play, and assuming the universality of free fall motion, an analogous reasoning as in the previous section applies: there are no global inertial frames. Instead there are approximate inertial frames moving alongside freely falling particles. Translated into the language of spacetime: the straight time-like lines that define a gravity-free inertial frame are deformed to lines that are curved relative to each other, suggesting that the inclusion of gravity necessitates a change in spacetime geometry.

A priori, it is not clear whether the new local frames in free fall coincide with the reference frames in which the laws of special relativity hold, that theory is based on the propagation of light, and thus on electromagnetism, which could have a different set of preferred frames. But using different assumptions about the special-relativistic frames (such as their being earth-fixed, or in free fall), one can derive different predictions for the gravitational redshift, that is, the way in which the frequency of light shifts as the light propagates through a gravitational field (cf. below). The actual measurements show that free-falling frames are the ones in which light propagates as it does in special relativity. The generalization of this statement, namely that the laws of special relativity hold to good approximation in freely falling (and non-rotating) reference frames, is known as the Einstein equivalence principle, a crucial guiding principle for generalizing special-relativistic physics to include gravity.

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Having formulated the relativistic, geometric version of the effects of gravity, the question of gravity's source remains. In Newtonian gravity, the source is mass. In special relativity, mass turns out to be part of a more general quantity called the stress, energy tensor, which includes both energy and momentum densities as well as stress: pressure and shear. Using the equivalence principle, this tensor is readily generalized to curved spacetime. Drawing further upon the analogy with geometric Newtonian gravity, it is natural to assume that the field equation for gravity relates this tensor and the Ricci tensor, which describes a particular class of tidal effects: the change in volume for a small cloud of test particles that are initially at rest, and then fall freely. In special relativity, conservation of energy, momentum corresponds to the statement that the stress, energy tensor is divergence-free. This formula, too, is readily generalized to curved spacetime by replacing partial derivatives with their curved-manifold counterparts, covariant derivatives studied in differential geometry. With this additional condition, the covariant divergence of the stress, energy tensor, and hence of whatever is on the other side of the equation, is zero, the simplest nontrivial set of equations are what are called Einstein's (field) equations:

\(G_{\mu\nu}\equiv R_{\mu\nu} - \tfrac{1}{2}R\,g_{\mu\nu} = \kappa T_{\mu\nu}\,\)

On the left-hand side is the Einstein tensor, \(G_{\mu\nu}\), which is symmetric and a specific divergence-free combination of the Ricci tensor \(R_{\mu\nu}\) and the metric. In particular, \[R=g^{\mu\nu}R_{\mu\nu}\] is the curvature scalar. The Ricci tensor itself is related to the more general Riemann curvature tensor as \[R_{\mu\nu}={R^\alpha}_{\mu\alpha\nu}.\]

On the right-hand side, \(\kappa\) is a constant and \(T_{\mu\nu}\) is the stress, energy tensor. All tensors are written in abstract index notation. Matching the theory's prediction to observational results for planetary orbits or, equivalently, assuring that the weak-gravity, low-speed limit is Newtonian mechanics, the proportionality constant \(\kappa\) is found to be \(\kappa={8\pi G}/{c^4}\), where \(G\) is the Newtonian constant of gravitation and \(c\) the speed of light in vacuum. When there is no matter present, so that the stress, energy tensor vanishes, the results are the vacuum Einstein equations, \[R_{\mu\nu}=0.\]

In general relativity, the world line of a particle free from all external, non-gravitational force is a particular type of geodesic in curved spacetime. In other words, a freely moving or falling particle always moves along a geodesic.

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In general relativity, the effective gravitational potential energy of an object of mass m revolving around a massive central body M is given by \[U_f(r) =-\frac{GMm}{r}+\frac{L^{2}}{2mr^{2}}-\frac{GML^{2}}{mc^{2}r^{3}}\]

A conservative total force can then be obtained as its negative gradient \[F_f(r)=-\frac{GMm}{r^{2}}+\frac{L^{2}}{mr^{3}}-\frac{3GML^{2}}{mc^{2}r^{4}}\] where L is the angular momentum. The first term represents the force of Newtonian gravity, which is described by the inverse-square law. The second term represents the centrifugal force in the circular motion. The third term represents the relativistic effect.

There are alternatives to general relativity built upon the same premises, which include additional rules and/or constraints, leading to different field equations. Examples are Whitehead's theory, Brans-Dicke theory, teleparallelism, f(R) gravity and Einstein-Cartan theory.

The derivation outlined in the previous section contains all the information needed to define general relativity, describe its key properties, and address a question of crucial importance in physics, namely how the theory can be used for model-building.

General relativity is a metric theory of gravitation. At its core are Einstein's equations, which describe the relation between the geometry of a four-dimensional pseudo-Riemannian manifold representing spacetime, and the distribution of energy, momentum and stress contained in that spacetime. Phenomena that in classical mechanics are ascribed to the action of the force of gravity (such as free-fall, orbital motion, and spacecraft trajectories), correspond to inertial motion within a curved geometry of spacetime in general relativity; there is no gravitational force deflecting objects from their natural, straight paths. Instead, gravity corresponds to changes in the properties of space and time, which in turn changes the straightest-possible paths that objects will naturally follow. The curvature is, in turn, caused by the stress, energy of matter. Paraphrasing the relativist John Archibald Wheeler, spacetime tells matter how to move; matter tells spacetime how to curve.

While general relativity replaces the scalar gravitational potential of classical physics by a symmetric rank-two tensor, the latter reduces to the former in certain limiting cases. For weak gravitational fields and low speed relative to the speed of light, the theory's predictions converge on those of Newton's law of universal gravitation.

As it is constructed using tensors, general relativity exhibits general covariance: its laws, and further laws formulated within the general relativistic framework, take on the same form in all coordinate systems. Furthermore, the theory does not contain any invariant geometric background structures, i.e. it is background-independent. It thus satisfies a more stringent general principle of relativity, namely that the laws of physics are the same for all observers. Locally, as expressed in the equivalence principle, spacetime is Minkowskian, and the laws of physics exhibit local Lorentz invariance.

The core concept of general-relativistic model-building is that of a solution of Einstein's equations. Given both Einstein's equations and suitable equations for the properties of matter, such a solution consists of a specific semi-Riemannian manifold (usually defined by giving the metric in specific coordinates), and specific matter fields defined on that manifold. Matter and geometry must satisfy Einstein's equations, so in particular, the matter's stress, energy tensor must be divergence-free. The matter must, of course, also satisfy whatever additional equations were imposed on its properties. In short, such a solution is a model universe that satisfies the laws of general relativity, and possibly additional laws governing whatever matter might be present.

Einstein's equations are nonlinear partial differential equations and, as such, difficult to solve exactly. Nevertheless, a number of exact solutions are known, although only a few have direct physical applications. The best-known exact solutions, and also those most interesting from a physics point of view, are the Schwarzschild solution, the Reissner-Nordström solution and the Kerr metric, each corresponding to a certain type of black hole in an otherwise empty universe, and the Friedmann-Lemaître-Robertson-Walker and de Sitter universes, each describing an expanding cosmos. Exact solutions of great theoretical interest include the Gödel universe (which opens up the intriguing possibility of time travel in curved spacetimes), the Taub-NUT solution (a model universe that is homogeneous, but anisotropic), and anti-de Sitter space (which has recently come to prominence in the context of what is called the Maldacena conjecture).

Given the difficulty of finding exact solutions, Einstein's field equations are also solved frequently by numerical integration on a computer, or by considering small perturbations of exact solutions. In the field of numerical relativity, powerful computers are employed to simulate the geometry of spacetime and to solve Einstein's equations for interesting situations such as two colliding black holes. In principle, such methods may be applied to any system, given sufficient computer resources, and may address fundamental questions such as naked singularities. Approximate solutions may also be found by perturbation theories such as linearized gravity and its generalization, the post-Newtonian expansion, both of which were developed by Einstein. The latter provides a systematic approach to solving for the geometry of a spacetime that contains a distribution of matter that moves slowly compared with the speed of light. The expansion involves a series of terms; the first terms represent Newtonian gravity, whereas the later terms represent ever smaller corrections to Newton's theory due to general relativity. An extension of this expansion is the parametrized post-Newtonian (PPN) formalism, which allows quantitative comparisons between the predictions of general relativity and alternative theories.

General relativity has a number of physical consequences. Some follow directly from the theory's axioms, whereas others have become clear only in the course of many years of research that followed Einstein's initial publication.

Assuming that the equivalence principle holds, gravity influences the passage of time. Light sent down into a gravity well is blueshifted, whereas light sent in the opposite direction (i.e., climbing out of the gravity well) is redshifted; collectively, these two effects are known as the gravitational frequency shift. More generally, processes close to a massive body run more slowly when compared with processes taking place farther away; this effect is known as gravitational time dilation.

Gravitational redshift has been measured in the laboratory and using astronomical observations. Gravitational time dilation in the Earth's gravitational field has been measured numerous times using atomic clocks, while ongoing validation is provided as a side effect of the operation of the Global Positioning System (GPS). Tests in stronger gravitational fields are provided by the observation of binary pulsars. All results are in agreement with general relativity. However, at the existing level of accuracy, these observations cannot distinguish between general relativity and other theories in which the equivalence principle is valid.

In the vicinity of a non-rotating sphere, the time dilation due to gravity, derived from the Schwarzschild metric, is

\(t_0 = t_f \sqrt{1 - \frac{2GM}{rc^2}}\)

where

• \(t_0\) is the proper time between two events for an observer close to the massive sphere, i.e. deep within the gravitational field
• \(t_f\) is the coordinate time between the events for an observer at an arbitrarily large distance from the massive object (this assumes the far-away observer is using Schwarzschild coordinates, a coordinate system where a clock at infinite distance from the massive sphere would tick at one second per second of coordinate time, while closer clocks would tick at less than that rate),
• \(G\) is the gravitational constant,
• \(M\) is the mass of the object creating the gravitational field,
• \(r\) is the radial coordinate of the observer within the gravitational field (this coordinate is analogous to the classical distance from the center of the object, but is actually a Schwarzschild coordinate; the equation in this form has real solutions for \(r > r_{\rm s}\)),
• \(c\) is the speed of light.

General relativity predicts that the path of light will follow the curvature of spacetime as it passes near a massive object. This effect was initially confirmed by observing the light of stars or distant quasars being deflected as it passes the Sun.

This and related predictions follow from the fact that light follows what is called a light-like or null geodesic, a generalization of the straight lines along which light travels in classical physics. Such geodesics are the generalization of the invariance of lightspeed in special relativity. As one examines suitable model spacetimes (either the exterior Schwarzschild solution or, for more than a single mass, the post-Newtonian expansion), several effects of gravity on light propagation emerge. Although the bending of light can also be derived by extending the universality of free fall to light, the angle of deflection resulting from such calculations is only half the value given by general relativity.

Closely related to light deflection is the Shapiro time delay, the phenomenon that light signals take longer to move through a gravitational field than they would in the absence of that field. There have been numerous successful tests of this prediction. In the parameterized post-Newtonian formalism (PPN), measurements of both the deflection of light and the gravitational time delay determine a parameter called γ, which encodes the influence of gravity on the geometry of space.