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This concept of Minkowski’s may be made clearer, perhaps, by the following process of thought. If we take a section through our three-dimensional space, we have a plane, i.e., a two-dimensional space. Similarly, if a section is made through a four-dimensional space, one of three dimensions is obtained. Thus, for an observer on the earth a definite section of Minkowski’s four-dimensional space will give us our ordinary three-dimensional one; so that this section will, as it were, break up Minkowski’s space into our space and give us our ordinary time. Similarly, a different section would have to be used to the observer on Arcturus; but by a suitable selection he would get his own familiar three-dimensional space and his own time. Thus the space defined by Minkowski is completely isotropic in reference to measured lengths and times, there is absolutely no difference between any two directions in an absolute sense; for any particular observer, of course, a particular section will cause the space to fall apart so as to suit his habits of measurement; any section, however, taken at random will do the same thing for some observer somewhere. From another point of view, that of Lorentz and Einstein, it is obvious that, since this four-dimensional space is isotropic, the expression of the laws of electromagnetic phenomena take identical mathematical forms when expressed by any observer.
The question of course must be raised as to what can be said in regard to phenomena which so far as we know do not have an electromagnetic origin. In particular what can be done with respect to gravitational phenomena? Before, however, showing how this problem was attacked by Einstein; and the fact that the subject of my address is Einstein’s work on gravitation shows that ultimately I shall explain this, I must emphasize another feature of Minkowski’s geometry. To describe the space-time characteristics of any event a point, defined by its four coordinates, is sufficient; so, if one observes the life-history of any entity, e.g., a particle of matter, a light-wave, etc., he observes a sequence of points in the space-time continuum; that is, the life-history of any entity is described fully by a line in this space. Such a line was called by Minkowski a “world-line.” Further, from a different point of view, all of our observations of nature are in reality observations of coincidences, e.g., if one reads a thermometer, what he does is to note the coincidence of the end of the column of mercury with a certain scale division on the thermometer tube. In other words, thinking of the world-line of the end of the mercury column and the world-line of the scale division, what we have observed was the intersection or crossing of these lines. In a similar manner any observation may be analyzed; and remembering that light rays, a point on the retina of the eye, etc., all have their world-lines, it will be recognized that it is a perfectly accurate statement to say that every observation is the perception of the intersection of world-lines. Further, since all we know of a world-line is the result of observations, it is evident that we do not know a world-line as a continuous series of points, but simply as a series of discontinuous points, each point being where the particular world-line in question is crossed by another world-line.
It is clear, moreover, that for the description of a world-line we are not limited to the particular set of four orthogonal axes adopted by Minkowski. We can choose any set of four-dimensional axes we wish. It is further evident that the mathematical expression for the coincidence of two points is absolutely independent of our selection of reference axes. If we change our axes, we will change the coordinates of both points simultaneously, so that the question of axes ceases to be of interest. But our so-called laws of nature are nothing but descriptions in mathematical language of our observations; we observe only coincidences; a sequence of coincidences when put in mathematical terms takes a form which is independent of the selection of reference axes; therefore the mathematical expression of our laws of nature, of every character, must be such that their form does not change if we make a transformation of axes. This is a simple but far-reaching deduction.
There is a geometrical method of picturing the effect of a change of axes of reference, i.e., of a mathematical transformation. To a man in a railway coach the path of a drop of water does not appear vertical, i.e., it is not parallel to the edge of the window; still less so does it appear vertical to a man performing manœuvres in an airplane. This means that whereas with reference to axes fixed to the earth the path of the drop is vertical; with reference to other axes, the path is not. Or, stating the conclusion in general language, changing the axes of reference (or effecting a mathematical transformation) in general changes the shape of any line. If one imagines the line forming a part of the space, it is evident that if the space is deformed by compression or expansion the shape of the line is changed, and if sufficient care is taken it is clearly possible, by deforming the space, to make the line take any shape desired, or better stated, any shape specified by the previous change of axes. It is thus possible to picture a mathematical transformation as a deformation of space. Thus I can draw a line on a sheet of paper or of rubber and by bending and stretching the sheet, I can make the line assume a great variety of shapes; each of these new shapes is a picture of a suitable transformation.
Now, consider world-lines in our four-dimensional space. The complete record of all our knowledge is a series of sequences of intersections of such lines. By analogy I can draw in ordinary space a great number of intersecting lines on a sheet of rubber; I can then bend and deform the sheet to please myself; by so doing I do not introduce any new intersections nor do I alter in the least the sequence of intersections. So in the space of our world-lines, the space may be deformed in any imaginable manner without introducing any new intersections or changing the sequence of the existing intersections. It is this sequence which gives us the mathematical expression of our so-called experimental laws; a deformation of our space is equivalent mathematically to a transformation of axes, consequently we see why it is that the form of our laws must be the same when referred to any and all sets of axes, that is, must remain unaltered by any mathematical transformation.
Now, at last we come to gravitation. We can not imagine any world-line simpler than that of a particle of matter left to itself; we shall therefore call it a “straight” line. Our experience is that two particles of matter attract one another. Expressed in terms of world-lines, this means that, if the world-lines of two isolated particles come near each other, the lines, instead of being straight, will be deflected or bent in towards each other. The world-line of any one particle is therefore deformed; and we have just seen that a deformation is the equivalent of a mathematical transformation. In other words, for any one particle it is possible to replace the effect of a gravitational field at any instant by a mathematical transformation of axes. The statement that this is always possible for any particle at any instant is Einstein’s famous “Principle of Equivalence.”
Let us rest for a moment, while I call attention to a most interesting coincidence, not to be thought of as an intersection of world-lines. It is said that Newton’s thoughts were directed to the observation of gravitational phenomena by an apple falling on his head; from this striking event he passed by natural steps to a consideration of the universality of gravitation. Einstein in describing his mental process in the evolution of his law of gravitation says that his attention was called to a new point of view by discussing his experiences with a man whose fall from a high building he had just witnessed. The man fortunately suffered no serious injuries and assured Einstein that in the course of his fall he had not been conscious in the least of any pull downward on his body. In mathematical language, with reference to axes moving with the man the force of gravity had disappeared. This is a case where by the transfer of the axes from the earth itself to the man, the force of the gravitational field is annulled. The converse change of axes from the falling man to a point on the earth could be considered as introducing the force of gravity into the equations of motion. Another illustration of the introduction into our equations of a force by a means of a change of axes is furnished by the ordinary treatment of a body in uniform rotation about an axis. For instance, in the case of a so-called conical pendulum, that is, the motion of a bob suspended from a fixed point by string, which is so set in motion that the bob describes a horizontal circle and the string therefore describes a circular cone, if we transfer our axes from the earth and have them rotate around the vertical line through the fixed point with the same angular velocity as the bob, it is necessary to introduce into our equations of motion a fictitious “force” called the centrifugal force. No one ever thinks of this force other than as a mathematical quantity introduced into the equations for the sake of simplicity of treatment; no physical meaning is attached to it. Why should there be to any other so-called “force,” which like centrifugal force, is independent of the nature of the matter? Again, here on the earth our sensation of weight is interpreted mathematically by combining expressions for centrifugal force and gravity; we have no distinct sensation for either separately. Why then is there any difference in the essence of the two? Why not consider them both as brought into our equations by the agency of mathematical transformations? This is Einstein’s point of view.
Granting, then, the principle of equivalence, we can so choose axes at any point at any instant that the gravitational field will disappear; these axes are therefore of what Eddington calls the “Galilean” type, the simplest possible. Consider, that is, an observer in a box, or compartment, which is falling with the acceleration of the gravitational field at that point. He would not be conscious of the field. If there were a projectile fired off in this compartment, the observer would describe its path as being straight. In this space the infinitesimal interval between two space-time points would then be given by the formula
where ds is the interval and are coordinates. If we make a mathematical transformation, i.e., use another set of axes, this interval
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