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The Kerr metric or Kerr geometry describes the geometry of empty spacetime around a rotating uncharged axially-symmetric black hole with a quasispherical event horizon. The Kerr metric is an exact solution of the Einstein field equations of general relativity; these equations are highly non-linear, which makes exact solutions very difficult to find.
Overview
The Kerr metric is a generalization of the Schwarzschild metric, discovered by Karl Schwarzschild in 1915, which described the geometry of spacetime around an uncharged, spherically-symmetric, and non-rotating body. The corresponding solution for a charged, spherical, non-rotating body, the Reissner–Nordström metric, was discovered soon afterwards (1916–1918). However, the exact solution for an uncharged, rotating black-hole, the Kerr metric, remained unsolved until 1963, when it was discovered by Roy Kerr. The natural extension to a charged, rotating black-hole, the Kerr–Newman metric, was discovered shortly thereafter in 1965. These four related solutions may be summarized by the following table:
Non-rotating (J = 0) | Rotating (J ≠ 0) | |
Uncharged (Q = 0) | Schwarzschild | Kerr |
Charged (Q ≠ 0) | Reissner–Nordström | Kerr–Newman |
According to the Kerr metric, such rotating black-holes should exhibit frame-dragging (also known as Lense–Thirring precession), a distinctive prediction of general relativity. Measurement of this frame dragging effect was a major goal of the Gravity Probe B
experiment. Roughly speaking, this effect predicts that objects coming
close to a rotating mass will be entrained to participate in its
rotation, not because of any applied force or torque that can be felt,
but rather because of the swirling curvature of spacetime itself
associated with rotating bodies. At close enough distances, all objects
– even light – must rotate with the black-hole; the region where this holds is called the ergosphere.
Rotating black holes have surfaces where the metric appears to have a singularity; the size and shape of these surfaces depends on the black hole's mass and angular momentum.
The outer surface encloses the ergosphere and has a shape similar to a
flattened sphere. The inner surface marks the "radius of no return" also
called the "event horizon"; objects passing through this radius can
never again communicate with the world outside that radius. However,
neither surface is a true singularity, since their apparent singularity
can be eliminated in a different coordinate system.
Objects between these two horizons must co-rotate with the rotating
body, as noted above; this feature can be used to extract energy from a
rotating black hole, up to its invariant mass energy, Mc2.
The LIGO experiment which detected gravitational waves also provided the first direct observation of a pair of Kerr black holes.
Mathematical form
in Boyer–Lindquist coordinates
The Kerr metric describes the geometry of spacetime in the vicinity of a mass M rotating with angular momentum J. The line element in Boyer–Lindquist coordinates is
where the coordinates are standard spherical coordinate system, which are equivalent to the cartesian coordinates
and rs is the Schwarzschild radius
and where the length-scales a, Σ and Δ have been introduced for brevity
A key feature to note in the above metric is the cross product
term. There is coupling between time and motion in the plane of
rotation that disappears when the black hole's angular momentum goes to
zero.
In the non-relativistic limit where M (or, equivalently, rs) goes to zero, the Kerr metric becomes the orthogonal metric for the oblate spheroidal coordinates
The total mass equivalent M (the gravitating mass) of the body (including its rotational energy) and its irreducible mass Mirr are related by
- .
If the complete rotational energy Erot=c²(M-Mirr) of a black hole is extracted, for example with the Penrose process, the remaining mass cannot shrink below the irreducible mass. Therefore, if a black hole rotates with the spin a=M, its total mass-equivalent M is higher by a factor of √2 in comparison with a corresponding Schwarzschild black hole where M is equal to Mirr. The reason for this is that in order to get a static body to spin, energy needs to be applied to the system. Because of the mass–energy equivalence this energy also has a mass-equivalent, which adds to the total mass-energy of the system, M.
In Kerr–Schild coordinates
The Kerr metric can be expressed in "Kerr–Schild" form, using a particular set of Cartesian coordinates as follows. These solutions were proposed by Kerr and Schild in 1965.
Notice that k is a unit vector. Here M is the constant mass of the spinning object, η is the Minkowski tensor, and a is a constant rotational parameter of the spinning object. It is understood that the vector is directed along the positive z-axis. The quantity r is not the radius, but rather is implicitly defined like this:
Notice that the quantity r becomes the usual radius R
when the rotational parameter a approaches zero. In this form of solution, units are selected so that the speed of light is unity (c = 1). At large distances from the source (R >> a), these equations reduce to the Eddington–Finkelstein form of the Schwarzschild metric.
In the Kerr–Schild form of the Kerr metric, the determinant of
the metric tensor is everywhere equal to negative one, even near the
source.
Wave operator
Since even a direct check on the Kerr metric involves cumbersome calculations, the contravariant components of the metric tensor in Boyer–Lindquist coordinates are shown below in the expression for the square of the four-gradient operator:
Frame dragging
We may rewrite the Kerr metric (1) in the following form:
This metric is equivalent to a co-rotating reference frame that is
rotating with angular speed Ω that depends on both the radius r and the colatitude θ, where Ω is called the Killing horizon.
Thus, an inertial reference frame is entrained by the rotating
central mass to participate in the latter's rotation; this is called frame-dragging, and has been tested experimentally.
Qualitatively, frame-dragging can be viewed as the gravitational analog
of electromagnetic induction. An "ice skater", in orbit over the equator
and rotationally at rest with respect to the stars, extends her arms.
The arm extended toward the black hole will be torqued spinward. The arm
extended away from the black hole will be torqued anti-spinward. She
will therefore be rotationally sped up, in a counter-rotating sense to
the black hole. This is the opposite of what happens in everyday
experience. If she is already rotating at a certain speed when she
extends her arms, inertial effects and frame-dragging effects will
balance and her spin will not change. Due to the Principle of Equivalence
gravitational effects are locally indistinguishable from inertial
effects, so this rotation rate, at which when she extends her arms
nothing happens, is her local reference for non-rotation. This frame is
rotating with respect to the fixed stars and counter-rotating with
respect to the black hole. A useful metaphor is a planetary gear
system with the black hole being the sun gear, the ice skater being a
planetary gear and the outside universe being the ring gear. This can be
also be interpreted through Mach's principle.
Important surfaces
The Kerr metric has two physical relevant surfaces on which it appears to be singular. The inner surface corresponds to an event horizon similar to that observed in the Schwarzschild metric; this occurs where the purely radial component grr of the metric goes to infinity. Solving the quadratic equation 1/grr = 0 yields the solution:
- which is in natural units of G=M=c=1: .
Another singularity occurs where the purely temporal component gtt of the metric changes sign from positive to negative. Again solving a quadratic equation gtt=0 yields the solution:
- or in natural units: .
Due to the cos2θ term in the square root, this outer
surface resembles a flattened sphere that touches the inner surface at
the poles of the rotation axis, where the colatitude θ equals 0 or π;
the space between these two surfaces is called the ergosphere. Within this volume, the purely temporal component gtt
is negative, i.e., acts like a purely spatial metric component.
Consequently, particles within this ergosphere must co-rotate with the
inner mass, if they are to retain their time-like character. A moving
particle experiences a positive proper time along its worldline, its path through spacetime. However, this is impossible within the ergosphere, where gtt is negative, unless the particle is co-rotating with the interior mass M with an angular speed at least of Ω. Thus, no particle can rotate opposite to the central mass within the ergosphere.
As with the event horizon in the Schwarzschild metric the apparent singularities at rH and rE are an illusion created by the choice of coordinates (i.e., they are coordinate singularities). In fact, the space-time can be smoothly continued through them by an appropriate choice of coordinates.
Ergosphere and the Penrose process
A black hole in general is surrounded by a surface, called the event horizon and situated at the Schwarzschild radius
for a nonrotating black hole, where the escape velocity is equal to the
velocity of light. Within this surface, no observer/particle can
maintain itself at a constant radius. It is forced to fall inwards, and
so this is sometimes called the static limit.
A rotating black hole has the same static limit at its event
horizon but there is an additional surface outside the event horizon
named the "ergosurface" given by in Boyer–Lindquist coordinates,
which can be intuitively characterized as the sphere where "the
rotational velocity of the surrounding space" is dragged along with the
velocity of light. Within this sphere the dragging is greater than the
speed of light, and any observer/particle is forced to co-rotate.
The region outside the event horizon but inside the surface where the rotational velocity is the speed of light, is called the ergosphere (from Greek ergon meaning work).
Particles falling within the ergosphere are forced to rotate faster and
thereby gain energy. Because they are still outside the event horizon,
they may escape the black hole. The net process is that the rotating
black hole emits energetic particles at the cost of its own total
energy. The possibility of extracting spin energy from a rotating black
hole was first proposed by the mathematician Roger Penrose in 1969 and is thus called the Penrose process.
Rotating black holes in astrophysics are a potential source of large
amounts of energy and are used to explain energetic phenomena, such as gamma-ray bursts.
Features of the Kerr geometry
The Kerr geometry exhibits many noteworthy features: the maximal analytic extension includes a sequence of asymptotically flat exterior regions, each associated with an ergosphere, stationary limit surfaces, event horizons, Cauchy horizons, closed timelike curves, and a ring-shaped curvature singularity. The geodesic equation can be solved exactly in closed form. In addition to two Killing vector fields (corresponding to time translation and axisymmetry), the Kerr geometry admits a remarkable Killing tensor. There is a pair of principal null congruences (one ingoing and one outgoing). The Weyl tensor is algebraically special, in fact it has Petrov type D. The global structure is known. Topologically, the homotopy type of the Kerr spacetime can be simply characterized as a line with circles attached at each integer point.
Note that the inner Kerr geometry is unstable with regard to
perturbations in the interior region. This instability means that
although the Kerr metric is axis-symmetric, a black hole created through
gravitational collapse may not be so.
This instability also implies that many of the features of the Kerr
geometry described above may not be present inside such a black hole.
A surface on which light can orbit a black hole is called a photon sphere. The Kerr solution has infinitely many photon spheres, lying between an inner one and an outer one. In the nonrotating, Schwarzschild solution, with a=0,
the inner and outer photon spheres degenerate, so that there is only
one photon sphere at a single radius. The greater the spin of a black
hole, the farther from each other the inner and outer photon spheres
move. A beam of light traveling in a direction opposite to the spin of
the black hole will circularly orbit the hole at the outer photon
sphere. A beam of light traveling in the same direction as the black
hole's spin will circularly orbit at the inner photon sphere. Orbiting
geodesics with some angular momentum perpendicular to the axis of
rotation of the black hole will orbit on photon spheres between these
two extremes. Because the space-time is rotating, such orbits exhibit a
precession, since there is a shift in the variable after completing one period in the variable.
Trajectory equations
The equations of motion for test particles in the Kerr spacetime are governed by four constants of motion. The first is the invariant mass of the test particle, defined by the relation
where is the four-momentum
of the particle. Furthermore, there are two constants of motion given
by the time translation and rotation symmetries of Kerr spacetime, the
energy , and the component of the orbital angular momentum parallel to spin of the black hole :
- , and .
Using Hamilton–Jacobi theory, Brandon Carter showed that there exists a fourth constant of motion, , now referred to as the Carter constant. It is related to the total angular momentum of the particle and is given by
- .
Since there are four (independent) constants of motion for degrees of
freedom the equations of motion for a test particle in Kerr spacetime
are integrable.
Using these constants of motion, the trajectory equations for a test particle can be written (using natural units of G=M=c=1),
with
Where, is an affine parameter such that . In particular, when the affine parameter , is related to the proper time through .
Because of the Frame-dragging-effect a zero angular momentum observer (ZAMO) is corotating with the angular velocity which is defined with respect to the bookkeeper's coordinate time . The local velocity of the test-particle is measured relative to a probe corotating with . The gravitational time-dilation between a ZAMO at fixed and a stationary observer far away from the mass is
- .
Symmetries
The group of isometries of the Kerr metric is the subgroup of the ten-dimensional Poincaré group which takes the two-dimensional locus of the singularity to itself. It retains the time translations
(one dimension) and rotations around its axis of rotation (one
dimension). Thus it has two dimensions. Like the Poincaré group, it has
four connected components: the component of the identity; the component
which reverses time and longitude; the component which reflects through
the equatorial plane; and the component that does both.
In physics, symmetries are typically associated with conserved constants of motion, in accordance with Noether's theorem.
As shown above, the geodesic equations have four conserved quantities:
one of which comes from the definition of a geodesic, and two of which
arise from the time translation and rotation symmetry of the Kerr
geometry. The fourth conserved quantity does not arise from a symmetry
in the standard sense and is commonly referred to as a hidden symmetry.
Overextreme Kerr solutions
The location of the event horizon is determined by the larger root of . When (i.e. ),
there are no (real valued) solutions to this equation, and there is no
event horizon. With no event horizons to hide it from the rest of the
universe, the black hole ceases to be a black hole and will instead be a
naked singularity.
Kerr black holes as wormholes
Although the Kerr solution appears to be singular at the roots of Δ = 0, these are actually coordinate singularities, and, with an appropriate choice of new coordinates, the Kerr solution can be smoothly extended through the values of
corresponding to these roots. The larger of these roots determines the
location of the event horizon, and the smaller determines the location
of a Cauchy horizon. A (future-directed, time-like) curve can start in
the exterior and pass through the event horizon. Once having passed
through the event horizon, the coordinate now behaves like a time coordinate, so it must decrease until the curve passes through the Cauchy horizon.
The region beyond the Cauchy horizon has several surprising features. The
coordinate again behaves like a spatial coordinate and can vary freely.
The interior region has a reflection symmetry, so that a
(future-directed time-like) curve may continue along a symmetric path,
which continues through a second Cauchy horizon, through a second event
horizon, and out into a new exterior region which is isometric to the
original exterior region of the Kerr solution. The curve could then
escape to infinity in the new region or enter the future event horizon
of the new exterior region and repeat the process. This second exterior
is sometimes thought of as another universe. On the other hand, in the
Kerr solution, the singularity is a ring,
and the curve may pass through the center of this ring. The region
beyond permits closed time-like curves. Since the trajectory of
observers and particles in general relativity are described by time-like
curves, it is possible for observers in this region to return to their
past. This interior solution is not likely to be physical and considered as a purely mathematical artifact.
While it is expected that the exterior region of the Kerr
solution is stable, and that all rotating black holes will eventually
approach a Kerr metric, the interior region of the solution appears to
be unstable, much like a pencil balanced on its point. This is related to the idea of cosmic censorship.
Relation to other exact solutions
The Kerr geometry is a particular example of a stationary axially symmetric vacuum solution to the Einstein field equation. The family of all stationary axially symmetric vacuum solutions to the Einstein field equation are the Ernst vacuums.
The Kerr solution is also related to various non-vacuum solutions which model black holes. For example, the Kerr–Newman electrovacuum models a (rotating) black hole endowed with an electric charge, while the Kerr–Vaidya null dust models a (rotating) hole with infalling electromagnetic radiation.
The special case of the Kerr metric yields the Schwarzschild metric, which models a nonrotating black hole which is static and spherically symmetric, in the Schwarzschild coordinates. (In this case, every Geroch moment but the mass vanishes.)
The interior of the Kerr geometry, or rather a portion of it, is locally isometric to the Chandrasekhar–Ferrari CPW vacuum, an example of a colliding plane wave model. This is particularly interesting, because the global structure
of this CPW solution is quite different from that of the Kerr geometry,
and in principle, an experimenter could hope to study the geometry of
(the outer portion of) the Kerr interior by arranging the collision of
two suitable gravitational plane waves.
Multipole moments
Each asymptotically flat Ernst vacuum can be characterized by giving the infinite sequence of relativistic multipole moments, the first two of which can be interpreted as the mass and angular momentum
of the source of the field. There are alternative formulations of
relativistic multipole moments due to Hansen, Thorne, and Geroch, which
turn out to agree with each other. The relativistic multipole moments of
the Kerr geometry were computed by Hansen; they turn out to be
- .
Thus, the special case of the Schwarzschild vacuum (a=0) gives the "monopole point source" of general relativity.
Warning: do not confuse these relativistic multipole moments with the Weyl multipole moments,
which arise from treating a certain metric function (formally
corresponding to Newtonian gravitational potential) which appears the
Weyl-Papapetrou chart for the Ernst family of all stationary
axisymmetric vacuum solutions using the standard euclidean scalar multipole moments.
In a sense, the Weyl moments only (indirectly) characterize the "mass
distribution" of an isolated source, and they turn out to depend only on
the even order relativistic moments. In the case of solutions symmetric across the equatorial plane the odd order Weyl moments vanish. For the Kerr vacuum solutions, the first few Weyl moments are given by
- .
In particular, we see that the Schwarzschild vacuum has nonzero
second order Weyl moment, corresponding to the fact that the "Weyl
monopole" is the Chazy–Curzon vacuum
solution, not the Schwarzschild vacuum solution, which arises from the
Newtonian potential of a certain finite length uniform density thin rod.
In weak field general relativity, it is convenient to treat
isolated sources using another type of multipole, which generalize the
Weyl moments to mass multipole moments and momentum multipole moments, characterizing respectively the distribution of mass and of momentum
of the source. These are multi-indexed quantities whose suitably
symmetrized (anti-symmetrized) parts can be related to the real and
imaginary parts of the relativistic moments for the full nonlinear
theory in a rather complicated manner.
Perez and Moreschi have given an alternative notion of "monopole
solutions" by expanding the standard NP tetrad of the Ernst vacuums in
powers of r (the radial coordinate in the Weyl-Papapetrou chart). According to this formulation:
- the isolated mass monopole source with zero angular momentum is the Schwarzschild vacuum family (one parameter),
- the isolated mass monopole source with radial angular momentum is the Taub–NUT vacuum family (two parameters; not quite asymptotically flat),
- the isolated mass monopole source with axial angular momentum is the Kerr vacuum family (two parameters).
In this sense, the Kerr vacuums are the simplest stationary
axisymmetric asymptotically flat vacuum solutions in general relativity.
Open problems
The Kerr geometry is often used as a model of a rotating black hole.
But if we hold the solution to be valid only outside some compact
region (subject to certain restrictions), in principle we should be able
to use it as an exterior solution to model the gravitational field around a rotating massive object other than a black hole, such as a neutron star, or the Earth. This works out very nicely for the non-rotating case, where we can match the Schwarzschild vacuum exterior to a Schwarzschild fluid interior, and indeed to more general static spherically symmetric perfect fluid
solutions. However, the problem of finding a rotating perfect-fluid
interior which can be matched to a Kerr exterior, or indeed to any
asymptotically flat vacuum exterior solution, has proven very difficult.
In particular, the Wahlquist fluid,
which was once thought to be a candidate for matching to a Kerr
exterior, is now known not to admit any such matching. At present it
seems that only approximate solutions modeling slowly rotating fluid
balls are known. (Slowly rotating fluid balls are the relativistic
analog of oblate spheroidal balls with nonzero mass and angular momentum
but vanishing higher multipole moments.) However, the exterior of the Neugebauer–Meinel disk, an exact dust solution which models a rotating thin disk, approaches in a limiting case the Kerr geometry. Physical thin-disk solutions obtained by identifying parts of the Kerr space-time are also known.