- £.-JACOBI FIELDS AND THE £-EXPONENTIAL MAP 359
Rearranging terms and integrating by parts, we express this as follows. De-
fine the symmetric 2-tensor Q by
Q (Y, W) ~ ( :T Re) (Y, W) + ~ \7 y \7 w R - (Re (Y) , Re (W))
1.
+ 2 T Re (Y, W) + (R (Y, X) W, X) - (\7y Re) (W, X)
- (\7 w Re) (Y, X) + 2 (\7 x Re) (Y, W)
and
1
S (Y) ~ Re (Y) + \7 x Y -
2
T Y.
Then we have
LEMMA 7.102 (£-index form). The £-index form £I(Y, W) can be writ-
ten as
1
'Tb
£I(Y, W) = - vrRc (Y, W)I~~ + ra yrQ (Y, W) dT
1
rb ( (S (Y) , S (W)) + ( S (Y) , ~) )
+ 0 +1Y \ 2r' s(w)) + (Y,w> 4r2 dT.
Ta
Note that, assuming [X, Y] = 0 and [X, W] = 0, we have
d~ ( (Y,TW)) = ~ (Re+ Sym (\7 X) -
2
~ g) (Y, W) ,
where Sym (V'X)ij ~! (V'iXj + Y'jXi) = !£xg.
8.5. £-Jacobian. First we recall the Jacobian in Riemannian geome-
try. Let (Mn,_q) beaRiemannianmanifold, letp EM, a~dgiven VE TpM
with IVJ = 1, let 'YV : [O, sv) --+ M be the maximal unit speed minimal
geodesic with 1 (0) = V. Take {Ei}r,: 11 to be an orthonormal frame at p per-
pendicular to V and define Jaco bi fields {Ji ( s)} along 'YV so that Ji ( 0) = 0
and (V'vJi) (0) = Ei· The Jacobian J is defined by
J ( 'YV ( S)) ~ J det ((Ji( s) , Jj ( S)) ) ,
where ( (Ji ( s) , Jj ( s))) is an ( n - 1) x ( n - 1) matrix. Note that
(7.137) lim J ('Yv (s)) = 1.
s-+0 sn-1