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Since the geometric product of two collinear vectors is a scalar, the symmetric part of the geometric product is a scalar denoted
. The product a · b is the inner or scalar product. One can then decompose the geometric product into its symmetric and antisymmetric part:
| (3.1) |
where the antisymmetric part is formed with the outer product. For the outer product one has obviously a
b = −b
a and a
a = 0, so that a
b can be interpreted geometrically as an oriented area. The geometric product is constructed in such a way that it gives information over the relative directions of a and b, i.e., ab = ba = a · b
a
b = 0 means that a and b are collinear whereas ab = −ba = a
b
a · b = 0 means that a and b are perpendicular.
With the outer product one defines simple r-vectors or r-blades
Ar=a1 | (3.2) |
which can be interpreted as r-dimensional volume forms. The geometric product can then be generalized to the case of a vector and an r-blade:
aAr=a·Ar+a | (3.3) |
which is the sum of an (r−1)-blade and a (r + 1)-blade
. Applying this recursively one sees that each c-number can be written as a polynomial of r-blades, and using a set of basis vectors e1, e2, … , er a c-number reads:
| (3.4) |
A is called a multivector or r-vector if the highest appearing grade is r. It decomposes into several blades:
| (3.5) |
where
n projects onto the term of grade n. A multivector Ar is called homogeneous if all appearing blades have the same grade, i.e., Ar =
Ar
r. The geometric product of two homogeneous multivectors Ar and Bs can be written as
ArBs= | (3.6) |
The inner and the outer product stand now for the terms with the lowest and the highest grade:
| (3.7) |
One should note that the inner and outer product here in the general case do not correspond anymore to the symmetric and the antisymmetric part of the geometric product. For example, in the case of two bivectors one has A2 B2 = B2
A2, so that the outer product is symmetric. Actually one finds for the symmetric and the antisymmetric parts of A2B2:
| (3.8) |
In general the commutativity of the outer and the inner product is given by:
| (3.9) |
and both products are always distributive:
| (3.10) |
Only the outer product of r-vectors is in general associative, i.e., A (B
C) = (A
B)
C, for the inner product one gets:
| (3.11) |
If one has to calculate several products of different type, the inner and the outer product always have to be calculated first, i.e.,
| (3.12) |
The formalism of geometric algebra briefly sketched so far can now be described with Grassmann variables and the Clifford star product, that turns the Grassmann algebra into a Clifford algebra. To make the equivalence even more obvious we go over to the dimensionless Grassmann variables
| (3.13) |
These variables play here the role of dimensionless basis vectors and will therefore be written in bold face, whereas the θi played in the discussion of the first section the role of dynamical variables with dimension . In the σn-variables the Clifford star product (2.12) has the form
| (3.14) |
As a star product the Clifford star product is associative and distributive.
To show how the geometric algebra described with Grassmann variables and the Clifford star product looks like, we first consider the two-dimensional euclidian case. One has then two Grassmann basis elements σ1 and σ2, so that a general element of the Clifford algebra is a supernumber A = a0 + a1σ1 + a2σ2 + a12σ1 σ2 = A
0 +
A
1 +
A
2 and a vector corresponds to a supernumber with Grassmann grade one: a = a1σ1 + a2σ2. The Clifford star product of two of these supernumbers is
| (3.15) |
where the symmetric and the antisymmetric part of the Clifford star product is given by:
| (3.16) |
and
| (3.17) |
which are terms with Grassmann grade 0 and 2, respectively. Note that now a juxtaposition like ab is just as in the notation of superanalysis the product of supernumbers and not the Clifford product, which we want to describe explicitly with the star product (3.14). The σi form an orthogonal basis under the scalar product: .
The unit 2-blade i = σ1σ2 can be interpreted as the generator of -rotations because by multiplying from the right one gets
| (3.18) |
so that a vector x = x1σ1 + x2σ2 is transformed into . The relation
describes then a reflection and furthermore one has with (2.16):
, so that i corresponds to the imaginary unit. The connection between the two-dimensional vector space with vectors x and the Gauss plane with complex numbers z is established by star multiplying x with σ1:
| (3.19) |
Such a bivector that results from star multiplying two vectors is also called spinor. While the bivector i generates a rotation of when acting from the right, the spinor z generates a general combination of a rotation and dilation when acting from the right. One can see this by writing
with
. Acting from the right with z causes then a dilation by |z| and a rotation by
, one has for example: σ1
Cz=x, which is the inversion of (3.19). Here one can see that the formalism of geometric algebra reproduces complex analysis and gives it a geometric meaning.
After having described the geometric algebra of the euclidian 2-space we now turn to the euclidian 3-space with basis vectors σ1, σ2, and σ3 and with the Clifford star product (3.14) for d = 3. The basis vectors are orthogonal: σi · σj = δij and a general c-number written as a supernumber has the form
A=a0+a1σ1+a2σ2+a3σ3+a12σ1σ2+a13σ3σ1+a23σ2σ3+a123σ1σ2σ3. | (3.20) |
This multivector has now four different simple multivector parts. Besides the scalar part a0 there is the pseudoscalar part corresponding to I3 = σ1σ2σ3, which can be interpreted as a right handed volume form, because a parity operation gives (−σ1) (−σ2) (−σ3) = −I3. Moreover I3 has also the properties of an imaginary unit: and I3
CI3 = I3 · I3 = −1. While the pseudoscalar I3 is an oriented volume element the bivector part with the basic 2-blades
| (3.21) |
describes oriented area elements. Each of the ir plays in the plane it defines the same role as the i of the two-dimensional euclidian plane defined above. Star-multiplying with the pseudoscalar I3 is equivalent to taking the Hodge dual, for example to each bivector B = b1i1 + b2i2 + b3i3 corresponds a vector b = b1σ1 + b2σ2 + b3σ3, which can be expressed by the equation B = I3 Cb. This duality can for example be used to write the geometric product of two vectors a = a1σ1 + a2σ2 + a3σ3 and b = b1σ1 + b2σ2 + b3σ3 as:
a | (3.22) |
where and a×b=εklmakblσm. Furthermore one finds:
σ1×σ2=-I3 | (3.23) |
and cyclic permutations. Note also that one gets with the nabla operator x=σ1∂x1+σ2∂x2+σ3∂x3 for the gradient of a vector field f = f1 (x1, x2, x3) σ1 + f2 (x1, x2, x3) σ2 + f3 (x1, x2, x3) σ3:
| (3.24) |
The multivector part of (3.20) with even Grassmann grade have the basis 1, i1, i2, i3 and form a closed subalgebra under the Clifford star product, namely the quaternion algebra. The multivector part of (3.20) with odd grade does not close under the Clifford star product, but nevertheless one can reinvestigate the definition of the Pauli functions in (2.14). Replacing in (2.14) the scalar i by the pseudoscalar I3 one sees that the basis vectors σi fulfill
| (3.25) |
which justifies denoting them σi. With the pseudoscalar I3 the trace (2.18) can be written as Tr (F) = 2∫dσ3 dσ2dσ1 F = 2∫dσ3 dσ2 dσ1I3
CF. So one has here achieved with the Clifford star product a cliffordization of the three-dimensional Grassmann algebra of the σi.