In the math branches of differential geometry and vector calculus, the second covariant derivative, or the second order covariant derivative, of a vector field is the derivative of its derivative with respect to another two tangent vector fields.
Definition Formally, given a (pseudo)-Riemannian manifold (M, g) associated with a vector bundle E → M, let ∇ denote the Levi-Civita connection given by the metric g, and denote by Γ(E) the space of the smooth sections of the total space E. Denote by T*M the cotangent bundle of M. Then the second covariant derivative can be defined as the composition of the two ∇s as follows:
Γ ( E ) ⟶ ∇ Γ ( T ∗ M ⊗ E ) ⟶ ∇ Γ ( T ∗ M ⊗ T ∗ M ⊗ E ) . {\displaystyle \Gamma (E){\stackrel {\nabla }{\longrightarrow }}\Gamma (T^{*}M\otimes E){\stackrel {\nabla }{\longrightarrow }}\Gamma (T^{*}M\otimes T^{*}M\otimes E).}
For example, given vector fields u, v, w, a second covariant derivative can be written as
( ∇ u , v 2 w ) a = u c v b ∇ c ∇ b w a {\displaystyle (\nabla _{u,v}^{2}w)^{a}=u^{c}v^{b}\nabla _{c}\nabla _{b}w^{a}}
by using abstract index notation. It is also straightforward to verify that
( ∇ u ∇ v w ) a = u c ∇ c v b ∇ b w a = u c v b ∇ c ∇ b w a + ( u c ∇ c v b ) ∇ b w a = ( ∇ u , v 2 w ) a + ( ∇ ∇ u v w ) a . {\displaystyle (\nabla _{u}\nabla _{v}w)^{a}=u^{c}\nabla _{c}v^{b}\nabla _{b}w^{a}=u^{c}v^{b}\nabla _{c}\nabla _{b}w^{a}+(u^{c}\nabla _{c}v^{b})\nabla _{b}w^{a}=(\nabla _{u,v}^{2}w)^{a}+(\nabla _{\nabla _{u}v}w)^{a}.}
Thus
∇ u , v 2 w = ∇ u ∇ v w − ∇ ∇ u v w . {\displaystyle \nabla _{u,v}^{2}w=\nabla _{u}\nabla _{v}w-\nabla _{\nabla _{u}v}w.}
When the torsion tensor is zero, so that [ u , v ] = ∇ u v − ∇ v u {\displaystyle [u,v]=\nabla _{u}v-\nabla _{v}u} , we may use this fact to write Riemann curvature tensor as
R ( u , v ) w = ∇ u , v 2 w − ∇ v , u 2 w . {\displaystyle R(u,v)w=\nabla _{u,v}^{2}w-\nabla _{v,u}^{2}w.}
Similarly, one may also obtain the second covariant derivative of a function f as
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