In this lecture, we study different notions of curvatures of a Riemannian or a pseudo-Riemannian $n$-manifold $M$ with metric tensor $g_{ij}$. We will discuss only local expressions of curvatures as those are the ones we actually use for doing physics in general relativity.

First we need to introduce the *Christoffel symbols* $\Gamma_{ij}^k$. The Christoffel symbols are associated with the differentiation of vector fields in a Riemannian or a pseudo Riemannian manifold $M$, called the *Levi-Civita connection*. The Levi-Civita connection $\nabla$ is a generalization of the covariant derivative of vector fields in the Euclidean space. Locally the Levi-civita connection is defined by $$\nabla_{\frac{\partial}{\partial x^i}}\frac{\partial}{\partial x^j}=\sum_{k}\Gamma_{ij}^k\frac{\partial}{\partial x^k}$$ and the Christoffel symbol is given by $$\Gamma_{ij}^k=\frac{1}{2}\sum_\ell g^{k\ell}\left\{\frac{\partial g_{j\ell}}{\partial x^i}+\frac{\partial g_{\ell i}}{\partial x^j}-\frac{\partial g_{ij}}{\partial x^\ell}\right\}$$ where $g^{k\ell}$ is the inverse of the metric tensor.

Locally the *Riemann curvature tensor* $R_{ijk}^\ell$ is given by $$R_{ijk}^\ell=\frac{\partial}{\partial x^j}\Gamma_{ik}^\ell-\frac{\partial}{\partial x^k}\Gamma_{ij}^\ell+\sum_p\left\{\Gamma_{jp}^\ell\Gamma_{ik}^p-\Gamma_{kp}^\ell\Gamma_{ij}^p\right\}$$

Locally the *sectional curvature* $K(X,Y)$ of $M$ with respect to the plane spanned by tangent vectors $X,Y\in T_pM$ is given by \begin{equation}\label{eq:sectcurv}K_p(X,Y)=g^{ii}R_{iji}^j\end{equation} assuming that $X,Y\in\mathrm{span}\left\{\frac{\partial}{\partial x^i},\frac{\partial}{\partial x^j}\right\}$. The sectional curvature is a generalization of the Gaußian curvature of a surface in 3-space. To see this, let $\varphi: M^2\longrightarrow M^3$ be a conformal parametric surface $M^2$ immersed in 3-space $M^3$ with metric $e^{u(x,y)}(dx^2+dy^2)$. The Gaußian curvature $K$ of $\varphi$ can be calculated using the formula (due to Karl Friedrich Gauß) $$K=\frac{\ell n-m^2}{EG-F^2}$$ where \begin{align*}E&=\langle\varphi_x,\varphi_x\rangle,\ F=\langle\varphi_x,\varphi_y\rangle,\ G=\langle\varphi_y,\varphi_y\rangle,\\\ell&=\langle\varphi_{xx},N\rangle,\ m=\langle\varphi_{xy},N\rangle,\ n=\langle\varphi_{yy},N\rangle\end{align*} Here, $\langle\ ,\ \rangle$ stands for the inner product induced by the conformal metric $e^{u(x,y)}(dx^2+dy^2)$ and $N$ is the unit normal vector field on $\varphi$. The Gaußian curvature is then obtained as the Liouville’s partial differential equation \begin{equation}\label{eq:liouville}\nabla^2 u=-2Ke^u\end{equation} On the other hand, using \eqref{eq:sectcurv} we find the sectional curvature of $\varphi$ to be $$g^{11}R_{121}^2=-\frac{e^{u(x,y)}}{2}\nabla^2u$$ which coincides with the Gaußian curvature $K$ from \eqref{eq:liouville}

*Example*. Let us compute the sectional curvature of the *hyperbolic plane* $$\mathbb{H}^2=\{(x,y)\in\mathbb{R}^2: y>0\}$$ with metric $$ds^2=\frac{dx^2+dy^2}{y^2}$$

The metric tensor is $(g_{ij})=\begin{pmatrix}\frac{1}{y^2} & 0\\0 & \frac{1}{y^2}\end{pmatrix}$. The Riemann curvature tensor $R_{121}^2$ is \begin{align*}R_{121}^2&=\frac{\partial}{\partial y}\Gamma_{11}^2-\frac{\partial}{\partial x}\Gamma_{12}^2+\sum_p\{\Gamma_{2p}^p\Gamma_{11}^p-\Gamma_{1p}^2\Gamma_{12}^p\}\\&=\frac{\partial}{\partial y}\Gamma_{11}^2-\frac{\partial}{\partial x}\Gamma_{12}^2+\Gamma_{21}^2\Gamma_{11}^1-\Gamma_{11}^2\Gamma_{12}^1+\Gamma_{22}^2\Gamma_{11}^2-\Gamma_{12}^2\Gamma_{12}^2\end{align*} We find the Christoffel symbols $$\Gamma_{11}^2=\frac{1}{y},\ \Gamma_{12}^1=-\frac{1}{y},\ \Gamma_{12}^2=0,\ \Gamma_{21}^2=0,\ \Gamma_{22}^2=-\frac{1}{y}$$ Thus we obtain $R_{121}^2=-\frac{1}{y^2}$ and hence $\mathbb{H}^2$ has the constant negative sectional curvature $$K=g^{11}R_{121}^2=y^2\left(-\frac{1}{y^2}\right)=-1$$ What is the shortest path connecting two points $(x_1,y_1)$ and $(x_2,y_2)$ in $\mathbb{H}^2$? Such shortest paths are called *geodesics* in differential geometry. To find out what a geodesic in $\mathbb{H}^2$ looks like, let $$J=\int_{(x_1,y_1)}^{(x_2,y_2)}ds=\int_{(x_1,y_1)}^{(x_2,y_2)}\frac{\sqrt{1+y_x^2}}{y}dx$$ where $y_x=\frac{dy}{dx}$. The shortest path would satisfy the Euler-Lagrange equation \begin{equation}\label{eq:E-L}\frac{\partial f}{\partial x}-\frac{d}{dx}\left(f-y_x\frac{\partial f}{\partial y_x}\right)=0\end{equation}with $f(y,y_x,x)=\frac{\sqrt{1+y_x^2}}{y}$. Since $f$ does not depend on $x$, $\frac{\partial f}{\partial x}=0$ and the Euler-Lagrange equation \eqref{eq:E-L} becomes $$\frac{d}{dx}\left[\frac{1}{y\sqrt{1+y_x^2}}\right]=0$$ i.e. \begin{equation}\label{eq:E-L2}\frac{1}{y\sqrt{1+y_x^2}}=C\end{equation} where $C$ is a constant. The equation \eqref{eq:E-L2} results in a separable differential equation $$\frac{dy}{dx}=\frac{\sqrt{r^2-y^2}}{y}$$ where $r^2=\frac{1}{C}$. The solution of this equation is $$(x-a)^2+y^2=r^2$$ where $a$ is a constant. Since $y>0$, the solution represents an equation of upper semi circle centered at $(a,0)$ with radius $r$, that is the shortest path (geodesic) between two points $(x_1,y_1)$ and $(x_2,y_2)$ in $\mathbb{H}^2$ is a part of an upper semicircle joining them. In particular, if $x_1=x_2$, the geodesic between $(x_1,y_1)$ and $(x_2,y_2)$ is the vertical line passing through the two points. Such a vertical line can still be considered as an upper semicircle with radius $\infty$.

Two other notions of curvatures are Ricci and scalar curvatures. The *Ricci curvature tensor* is given by $$\mathrm{Ric}_p\left(\frac{\partial}{\partial x^i},\frac{\partial}{\partial x^j}\right)=\sum_kR_{ikj}^k$$ We usually denote $\mathrm{Ric}_p\left(\frac{\partial}{\partial x^i},\frac{\partial}{\partial x^j}\right)$ simply by $R_{ij}$. The *scalar curvature* $\mathrm{Scal}(p)$ is given by $$\mathrm{Scal}(p)=\sum_{i}g^{ii}R_{ii}$$ The scalar curvature can be given, in terms of the sectional curvature, by $$\mathrm{Scal}(p)=\sum_{i\ne j}K_p\left(\frac{\partial}{\partial x^i},\frac{\partial}{\partial x^j}\right)$$ The scalar curvature is usually denoted by $R$ in general relativity.

*Definition*. A Riemannian or a pseudo-Riemannian manifold $(M,g)$ is said to be *maximally symmetric* if $(M,g)$ has constant sectional curvature $\kappa$.

*Theorem*. If a Riemannian or a pseudo-Riemannian manifold $(M,g)$ is maximally symmetric, then $$R_{ii}=\kappa(n-1)g_{ii}$$ where $\kappa$ is the constant sectional curvature of $(M,g)$ and $n=\dim M$.

*Corollary*. If $(M,g)$ has the constant sectional curvature $\kappa$, then $$\mathrm{Scal}(p)=n(n-1)\kappa$$ where $n=\dim M$.