Galilean transformation


In physics, a Galilean transformation is used to transform between the coordinates of two reference frames which differ only by constant relative motion within the constructs of Newtonian physics. These transformations together with spatial rotations and translations in space and time form the inhomogeneous Galilean group. Without the translations in space and time the group is the homogeneous Galilean group. The Galilean group is the group of motions of Galilean relativity acting on the four dimensions of space and time, forming the Galilean geometry. This is the passive transformation point of view. In special relativity the homogenous and inhomogenous Galilean transformations are, respectively, replaced by the Lorentz transformations and Poincaré transformations; conversely, the group contraction in the classical limit of Poincaré transformations yields Galilean transformations.
The equations below are only physically valid in a Newtonian framework, and not applicable to coordinate systems moving relative to each other at speeds approaching the speed of light.
Galileo formulated these concepts in his description of uniform motion.
The topic was motivated by his description of the motion of a ball rolling down a ramp, by which he measured the numerical value for the acceleration of gravity near the surface of the Earth.

Translation

Though the transformations are named for Galileo, it is absolute time and space as conceived by Isaac Newton that provides their domain of definition. In essence, the Galilean transformations embody the intuitive notion of addition and subtraction of velocities as vectors.
The notation below describes the relationship under the Galilean transformation between the coordinates and of a single arbitrary event, as measured in two coordinate systems and, in uniform relative motion in their common and directions, with their spatial origins coinciding at time :
Note that the last equation holds for all Galilean transformations up to addition of a constant, and expresses the assumption of a universal time independent of the relative motion of different observers.
In the language of linear algebra, this transformation is considered a shear mapping, and is described with a matrix acting on a vector. With motion parallel to the x-axis, the transformation acts on only two components:
Though matrix representations are not strictly necessary for Galilean transformation, they provide the means for direct comparison to transformation methods in special relativity.

Galilean transformations

The Galilean symmetries can be uniquely written as the composition of a rotation, a translation and a uniform motion of spacetime. Let represent a point in three-dimensional space, and a point in one-dimensional time. A general point in spacetime is given by an ordered pair.
A uniform motion, with velocity, is given by
where. A translation is given by
where and. A rotation is given by
where is an orthogonal transformation.
As a Lie group, the group of Galilean transformations has dimension 10.

Galilean group

Two Galilean transformations and compose to form a third Galilean transformation,
The set of all Galilean transformations forms a group with composition as the group operation.
The group is sometimes represented as a matrix group with spacetime events as vectors where is real and is a position in space.
The action is given by
where is real and and is a rotation matrix.
The composition of transformations is then accomplished through matrix multiplication. Care must be taken in the discussion whether one restricts oneself to the connected component group of the orthogonal transformations.
has named subgroups. The identity component is denoted.
Let represent the transformation matrix with parameters :
The parameters span ten dimensions. Since the transformations depend continuously on, is a continuous group, also called a topological group.
The structure of can be understood by reconstruction from subgroups. The semidirect product combination of groups is required.

  1. Origin in group contraction

The Lie algebra of the Galilean group is spanned by and , subject to commutation relations, where
is the generator of time translations, is the generator of translations, is the generator of rotationless Galilean transformations, and stands for a generator of rotations.
This Lie Algebra is seen to be a special classical limit of the algebra of the Poincaré group, in the limit. Technically, the Galilean group is a celebrated group contraction of the Poincaré group.
Formally, renaming the generators of momentum and boost of the latter as in
where is the speed of light, the commutation relations in the limit take on the relations of the former.
Generators of time translations and rotations are identified. Also note the group invariants and .
In matrix form, for, one may consider the regular representation,
The infinitesimal group element is then

Central extension of the Galilean group

One may consider a central extension of the Lie algebra of the Galilean group, by a spanned by and an operator M:
The so called Bargmann algebra is obtained by imposing, such that lies in the center, i.e. commutes with all other operators.
In full, this algebra is given as
and finally
where the new parameter shows up.
This extension and projective representations that this enables is determined by its group cohomology.