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This introductory section has focused on the spacetime of special relativity, since it is the easiest to describe. Minkowski spacetime is flat, takes no account of gravity, is uniform throughout, and serves as nothing more than a static background for the events that take place in it. The presence of gravity greatly complicates the description of spacetime. In general relativity, spacetime is no longer a static background, but actively interacts with the physical systems that it contains. Spacetime curves in the presence of matter, can propagate waves, bends light, and exhibits a host of other phenomena. [1]: 221 A few of these phenomena are described in the later sections of this article.
A basic goal is to be able to compare measurements made by observers in relative motion. Say we have an observer O in frame S who has measured the time and space coordinates of an event, assigning this event three Cartesian coordinates and the time as measured on his lattice of synchronized clocks (x, y, z, t) (see Fig. 1‑1). A second observer O′ in a different frame S′ measures the same event in her coordinate system and her lattice of synchronized clocks (x′, y′, z′, t′). Since we are dealing with inertial frames, neither observer is under acceleration, and a simple set of equations allows us to relate coordinates (x, y, z, t) to (x′, y′, z′, t′). Given that the two coordinate systems are in standard configuration, meaning that they are aligned with parallel (x, y, z) coordinates and that t = 0 when t′ = 0, the coordinate transformation is as follows: [2] [3]
Fig. 3-1 illustrates that in Newton's theory, time is universal, not the velocity of light. [4]: 36–37 Consider the following thought experiment: The red arrow illustrates a train that is moving at 0.4 c with respect to the platform. Within the train, a passenger shoots a bullet with a speed of 0.4 c in the frame of the train. The blue arrow illustrates that a person standing on the train tracks measures the bullet as traveling at 0.8 c. This is in accordance with our naive expectations.
More generally, assume that frame S′ is moving at velocity v with respect to frame S. Within frame S′, observer O′ measures an object moving with velocity u′. What is its velocity u with respect to frame S? Since x = ut, x′ = x − vt, and t = t′, we can write x′ = ut − vt = (u − v)t = (u − v)t′. This leads to u′ = x′/t′ and ultimately
which is the common-sense Galilean law for the addition of velocities.
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The composition of velocities is quite different in relativistic spacetime. To reduce the complexity of the equations slightly, we introduce a common shorthand for the ratio of the speed of an object relative to light,
Fig. 3-2a illustrates a red train that is moving forward at a speed given by v/c = β = s/a. From the primed frame of the train, a passenger shoots a bullet with a speed given by u′/c = β′ = n/m, where the distance is measured along a line parallel to the red x′ axis rather than parallel to the black x axis. What is the composite velocity u of the bullet relative to the platform, as represented by the blue arrow? Referring to Fig. 3‑2b:
The relativistic formula for addition of velocities presented above exhibits several important features:
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We had previously discussed, in qualitative terms, time dilation and length contraction. It is straightforward to obtain quantitative expressions for these effects. Fig. 3‑3 is a composite image containing individual frames taken from two previous animations, simplified and relabeled for the purposes of this section.
To reduce the complexity of the equations slightly, we see in the literature a variety of different shorthand notations for ct :
In Fig. 3-3a, segments OA and OK represent equal spacetime intervals. Time dilation is represented by the ratio OB/OK. The invariant hyperbola has the equation w = √x2 + k2 where k = OK, and the red line representing the world line of a particle in motion has the equation w = x/β = xc/v. A bit of algebraic manipulation yields
The expression involving the square root symbol appears very frequently in relativity, and one over the expression is called the Lorentz factor, denoted by the Greek letter gamma : [5]
We note that if v is greater than or equal to c, the expression for becomes physically meaningless, implying that c is the maximum possible speed in nature. Next, we note that for any v greater than zero, the Lorentz factor will be greater than one, although the shape of the curve is such that for low speeds, the Lorentz factor is extremely close to one.
In Fig. 3-3b, segments OA and OK represent equal spacetime intervals. Length contraction is represented by the ratio OB/OK. The invariant hyperbola has the equation x = √w2 + k2, where k = OK, and the edges of the blue band representing the world lines of the endpoints of a rod in motion have slope 1/β = c/v. Event A has coordinates (x, w) = (γk, γβk). Since the tangent line through A and B has the equation w = (x − OB)/β, we have γβk = (γk − OB)/β and
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