Gravity An Introduction to Einstein's General Relativity

The laws of Newtonian mechanics have to be changed to be consistent with the principles of special relativity introduced in the previous chapter. This chapter describes special relativistic mechanics from a four-dimensional, spacetime point of view. Newtonian mechanics is an approximation to this mechanics of special relativity that is appropriate when motion is at speeds much less than the velocity of light in a particular inertial frame. We begin with the central idea of four-vectors, defined as a directed line segment in four-dimensional flat spacetime, and how to manipulate them. Special relativistic kinematics shows how four-vectors are used for describing the motion of a particle in spacetime terms. Concepts such as four-velocity and four-momentum are introduced. We will posit the principle of extremal proper time for a free particle in curved spacetime, and use it to derive the free particle equation of motion.