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ea eb = b a
ec ec =
(1)
Denition 3. The commutation coecients Cabc of a vielbein are the components of the commutator [ea , eb ] = ea eb eb ea , with respect to the vielbein basis, i.e. [ea , eb ] = Cabc ec. Proposition 4. Let f, = f denote the partial derivative of f with respect to the -th coordinate. Then, ) ( c (2) Cab = ea eb , eb ea , ec Lemma 5. By dierentiating the equations in the conclusion of proposition2,we obtain the identities
ea , eb + ea eb, = 0
and in particular
ec
c , e
+ ec ec, = 0
(3)
eb, = eb ec ec,
ea
= ea ec ec,
(4)
Consider the quantity ec, ec,. We would like to express this in terms of some vielbein structure constants, so let us dene ( ) c c c ab = e , e , ea eb (5) Note that the quantity inside the brackets looks like a commutator of some kind. In fact, by lemma 5, we have the following remarkable identity: Proposition 6.
cab = Cabc
(6)
As with the preceding results, this is independent of the orthonormality condition. Having dened these structure constants and proven these identities, we can now move on to dening some geometric quantities in terms of them. We start by dening the vielbein analogue of the Christoel symbol. Denition 7. Let be a connection on the manifold. The connection coecients bca are dened to satisfy the equation
XY
= X ea (Y ) + ca X Y
a c
eb
(7)
where X = Xa ea and Y = Yb eb are arbitrary vector elds. Explicitly, the connection coecients are given by the following equation:
e a ec
= bca eb
is the metric connection.
(8)
Proposition 8. Suppose bca are the connection coecients for the metric connection on the manifold. Then,
bca =
where
(9)
Cbca = bd af Cda
cba = bd af da