Analogously to the way thatelectromagnetic fields are related to the distribution ofcharges andcurrents viaMaxwell's equations, the EFE relate thespacetime geometry to the distribution of mass–energy, momentum and stress, that is, they determine themetric tensor of spacetime for a given arrangement of stress–energy–momentum in the spacetime. The relationship between the metric tensor and the Einstein tensor allows the EFE to be written as a set of nonlinearpartial differential equations when used in this way. The solutions of the EFE are the components of the metric tensor. Theinertial trajectories of particles and radiation (geodesics) in the resulting geometry are then calculated using thegeodesic equation.
As well as implying local energy–momentum conservation, the EFE reduce toNewton's law of gravitation in the limit of a weak gravitational field and velocities that are much less than thespeed of light.[4]
Exact solutions for the EFE can only be found under simplifying assumptions such assymmetry. Special classes ofexact solutions are most often studied since they model many gravitational phenomena, such asrotating black holes and theexpanding universe. Further simplification is achieved in approximating the spacetime as having only small deviations fromflat spacetime, leading to thelinearized EFE. These equations are used to study phenomena such asgravitational waves.
In standard units, each term on the left has quantity dimension ofL−2.
The expression on the left represents the curvature of spacetime as determined by the metric; the expression on the right represents the stress–energy–momentum content of spacetime. The EFE can then be interpreted as a set of equations dictating how stress–energy–momentum determines the curvature of spacetime.
The EFE is a tensor equation relating a set ofsymmetric 4 × 4 tensors. Each tensor has 10 independent components. The fourBianchi identities reduce the number of independent equations from 10 to 6, leaving the metric with fourgauge-fixingdegrees of freedom, which correspond to the freedom to choose a coordinate system.
Although the Einstein field equations were initially formulated in the context of a four-dimensional theory, some theorists have explored their consequences inn dimensions.[10] The equations in contexts outside of general relativity are still referred to as the Einstein field equations. The vacuum field equations (obtained whenTμν is everywhere zero) defineEinstein manifolds.
The equations are more complex than they appear. Given a specified distribution of matter and energy in the form of a stress–energy tensor, the EFE are understood to be equations for the metric tensorgμν, since both the Ricci tensor and scalar curvature depend on the metric in a complicated nonlinear manner. When fully written out, the EFE are a system of ten coupled, nonlinear, hyperbolic-ellipticpartial differential equations.[11]
The above form of the EFE is the standard established byMisner, Thorne, and Wheeler (MTW).[12] The authors analyzed conventions that exist and classified these according to three signs ([S1] [S2] [S3]):
The third sign above is related to the choice of convention for the Ricci tensor:
With these definitionsMisner, Thorne, and Wheeler classify themselves as(+ + +), whereas Weinberg (1972)[13] is(+ − −), Peebles (1980)[14] and Efstathiou et al. (1990)[15] are(− + +), Rindler (1977),[citation needed] Atwater (1974),[citation needed] Collins Martin & Squires (1989)[16] and Peacock (1999)[17] are(− + −).
Authors including Einstein have used a different sign in their definition for the Ricci tensor which results in the sign of the constant on the right side being negative:
The sign of the cosmological term would change in both these versions if the(+ − − −) metricsign convention is used rather than the MTW(− + + +) metric sign convention adopted here.
Taking thetrace with respect to the metric of both sides of the EFE one getswhereD is the spacetime dimension. Solving forR and substituting this in the original EFE, one gets the following equivalent "trace-reversed" form:
InD = 4 dimensions this reduces to
Reversing the trace again would restore the original EFE. The trace-reversed form may be more convenient in some cases (for example, when one is interested in weak-field limit and can replacegμν in the expression on the right with theMinkowski metric without significant loss of accuracy).
In the Einstein field equationsthe term containing the cosmological constantΛ was absent from the version in which he originally published them. Einstein then included the term with the cosmological constant to allow for auniverse that is not expanding or contracting. This effort was unsuccessful because:
any desired steady state solution described by this equation is unstable, and
Einstein then abandonedΛ, remarking toGeorge Gamow "that the introduction of the cosmological term was the biggest blunder of his life".[18]
The inclusion of this term does not create inconsistencies. For many years the cosmological constant was almost universally assumed to be zero. More recentastronomical observations have shown anaccelerating expansion of the universe, and to explain this a positive value ofΛ is needed.[19][20] The effect of the cosmological constant is negligible at the scale of a galaxy or smaller.
Einstein thought of the cosmological constant as an independent parameter, but its term in the field equation can also be moved algebraically to the other side and incorporated as part of the stress–energy tensor:
This tensor describes avacuum state with anenergy densityρvac and isotropic pressurepvac that are fixed constants and given bywhere it is assumed thatΛ has SI unit m−2 andκ is defined as above.
The existence of a cosmological constant is thus equivalent to the existence of a vacuum energy and a pressure of opposite sign. This has led to the terms "cosmological constant" and "vacuum energy" being used interchangeably in general relativity.
The antisymmetry of the Riemann tensor allows the second term in the above expression to be rewritten:which is equivalent tousing the definition of theRicci tensor.
Next, contract again with the metricto get
The definitions of the Ricci curvature tensor and the scalar curvature then show thatwhich can be rewritten as
A final contraction withgεδ giveswhich by the symmetry of the bracketed term and the definition of theEinstein tensor, gives, after relabelling the indices,
Using the EFE, this immediately gives,
which expresses the local conservation of stress–energy. This conservation law is a physical requirement. With his field equations Einstein ensured that general relativity is consistent with this conservation condition.
Newtonian gravitation can be written as the theory of a scalar field,, which is the gravitational potential in joules per kilogram of the gravitational field, seeGauss's law for gravitywhereρ is the mass density. The orbit of afree-falling particle satisfies
In tensor notation, these become
In general relativity, these equations are replaced by the Einstein field equations in the trace-reversed formfor some constant,K, and thegeodesic equation
To see how the latter reduces to the former, we assume that the test particle's velocity is approximately zeroand thusand that the metric and its derivatives are approximately static and that the squares of deviations from the Minkowski metric are negligible. Applying these simplifying assumptions to the spatial components of the geodesic equation giveswhere two factors ofdt/dτ have been divided out. This will reduce to its Newtonian counterpart, provided
Our assumptions forceα =i and the time (0) derivatives to be zero. So this simplifies towhich is satisfied by letting
Turning to the Einstein equations, we only need the time-time componentthe low speed and static field assumptions imply that
Soand thus
From the definition of the Ricci tensor
Our simplifying assumptions make the squares ofΓ disappear together with the time derivatives
Combining the above equations togetherwhich reduces to the Newtonian field equation providedwhich will occur if
A Swiss commemorative coin from 1979, showing the vacuum field equations with zero cosmological constant (top).
If the energy–momentum tensorTμν is zero in the region under consideration, then the field equations are also referred to as thevacuum field equations. By settingTμν = 0 in thetrace-reversed field equations, the vacuum field equations, also known as 'Einstein vacuum equations' (EVE), can be written as
In the case of nonzero cosmological constant, the equations are
Additionally, thecovariant Maxwell equations are also applicable in free space:[21]where the semicolon represents acovariant derivative, and the brackets denoteanti-symmetrization. The first equation asserts that the 4-divergence of the2-formF is zero, and the second that itsexterior derivative is zero. From the latter, it follows by thePoincaré lemma that in a coordinate chart it is possible to introduce an electromagnetic field potentialAα such that[21]in which the comma denotes a partial derivative. This is often taken as equivalent to the covariant Maxwell equation from which it is derived.[22] However, there are global solutions of the equation that may lack a globally defined potential.[23]
The solutions of the Einstein field equations aremetrics of spacetime. These metrics describe the structure of the spacetime including the inertial motion of objects in the spacetime. As the field equations are non-linear, they cannot always be completely solved (i.e. without making approximations). For example, there is no known complete solution for a spacetime with two massive bodies in it (which is a theoretical model of a binary star system, for example). However, approximations are usually made in these cases. These are commonly referred to aspost-Newtonian approximations. Even so, there are several cases where the field equations have been solved completely, and those are called exact solutions.[10]
The study of exact solutions of Einstein's field equations is one of the activities ofcosmology. It leads to the prediction ofblack holes and to different models of evolution of theuniverse.
One can also discover new solutions of the Einstein field equations via the method of orthonormal frames as pioneered by Ellis and MacCallum.[24] In this approach, the Einstein field equations are reduced to a set of coupled, nonlinear, ordinary differential equations. As discussed by Hsu and Wainwright,[25] self-similar solutions to the Einstein field equations are fixed points of the resultingdynamical system. New solutions have been discovered using these methods by LeBlanc[26] and Kohli and Haslam.[27]
The nonlinearity of the EFE makes finding exact solutions difficult. One way of solving the field equations is to make an approximation, namely, that far from the source(s) of gravitating matter, thegravitational field is very weak and thespacetime approximates that of Minkowski space. The metric is then written as the sum of the Minkowski metric and a term representing the deviation of the true metric from theMinkowski metric, ignoring higher-power terms. This linearization procedure can be used to investigate the phenomena ofgravitational radiation.
Despite the EFE as written containing the inverse of the metric tensor, they can be arranged in a form that contains the metric tensor in polynomial form and without its inverse. First, the determinant of the metric in 4 dimensions can be writtenusing theLevi-Civita symbol; and the inverse of the metric in 4 dimensions can be written as:
Substituting this expression of the inverse of the metric into the equations then multiplying both sides by a suitable power ofdet(g) to eliminate it from the denominator results in polynomial equations in the metric tensor and its first and second derivatives. TheEinstein–Hilbert action from which the equations are derived can also be written in polynomial form by suitable redefinitions of the fields.[28]
^With the choice of the Einstein gravitational constant as given here,κ = 8πG/c4, the stress–energy tensor on the right side of the equation must be written with each component in units of energy density (i.e., energy per volume, equivalently pressure). In Einstein's original publication, the choice isκ = 8πG/c2, in which case the stress–energy tensor components have units of mass density.
^Adler, Ronald; Bazin, Maurice; Schiffer, Menahem (1975).Introduction to general relativity (2nd ed.). New York: McGraw-Hill.ISBN0-07-000423-4.OCLC1046135.
^Weinberg, Steven (1993).Dreams of a Final Theory: the search for the fundamental laws of nature. Vintage Press. pp. 107, 233.ISBN0-09-922391-0.
^Ehlers, Jurgen; Geroch, Robert (2003-09-16),Equation of Motion of Small Bodies in Relativity,arXiv:gr-qc/0309074, arXiv:gr-qc/0309074