A Rigorous Derivation of the Lorentz Transformations

© 2015 Claude Michael Cassano

It’s difficult to find a derivation of the Lorentz transformations beyond a single dimension in rectangular Cartesian coordinates.
Here, a rigorous general derivation is established.

An infinitesimal line element (differential) is expressed as:

3
r ≡ rx 0 , x 1 , x 2 , x 3   ∑  i r i
i0
∴
3
dr ≡ ∑ ∂ri dx i   i ≡ ∂ri
i0 ∂x ∂x
then:
3 3
ds ≡dr dr  ∑  i dx
2 i
 ∑  i dx i
i0 i0
3 3
 ∑ ∑ i   j dx i dx j
i0 j0
so with: g ij ≡  i   j
3
ds ≡ ∑ g ij dx i dx j
2
i0

This is an invariant, unchanged in any coordinate system/reference frame - the g ij specified for each coordinate system/reference
frame.
In a specific coordinate system/reference frame type where the time ans space portions of this invariant may be seperated as follows:
3
ds 2  c 2 dtdt − ∑ g ij dx i dx j
i1

Defining velocity in a coordinate system/reference frame as follows:

′
v  dr , v  d r′
′
dt dt
′ ′
v  0 , if and only if: v  u ( the initial velocity, measured in K’ )
′
v  0 , if and only if: v  u ( the initial velocity, measured in K )

x i  x i x 1′ , x 2′ , . . . , x n′  , ∀i ∈  x ∈ N | 1 ≤ x ≤ n 

x k′ x k′ x 1 , x 2 , . . . , x n  , ∀k ∈  x ∈ N | 1 ≤ x ≤ n 

so, ( hereafter, using the Einstein summation convention )

c 2 dt 2 − g ij dx i dx j  c 2 dt ′2 − g ′kl dx k′ dx l′
∴
dx i  ∂xk′ dx k′  ∂x′ dt ′ , dt  ∂tk′ dx k′  ∂t′ dt ′
i i

∂x ∂t ∂x ∂t

so:
2
c2 ∂t dx k′  ∂t dt ′ − g ij ∂x i dx k′  ∂x i dt ′ ∂x j dx l′  ∂x j dt ′ 
∂x k′ ∂t ′ ∂x k′ ∂t ′ ∂x l′ ∂t ′
 c 2 dt ′2 − g ′kl dx k′ dx l′
∴
c 2 ∂tk′ ∂tl′ − g ij ∂xk′ ∂xl′  g ′kl dx k′ dx l′ 
i j

∂x ∂x ∂x ∂x
2 ∂t ∂t ∂x i ∂x j dx k′ dt ′ 
 2c ′
− 2g ij
∂x k′ ∂t ∂x k′ ∂t ′
 c 2 ∂t′ ∂t′ − g ij ∂x′ ∂x′ − c 2 dt ′ dt ′  0
i j

∂t ∂t ∂t ∂t
so:
c 2 ∂tk′ ∂tl′ − g ij ∂xk′ ∂xl′  g ′kl  0
i j

∂x ∂x ∂x ∂x
2 ∂t ∂t ∂x ∂x j  0
i
c ′
− g ij
∂x k′ ∂t ∂x k′ ∂t ′
c 2 ∂t′ ∂t′ − g ij ∂x′ ∂x′ − c 2  0
i j

∂t ∂t ∂t ∂t
Velocity components may be expressed, as follows:
∂x i dx k′  ∂x i ∂x i v k′  ∂x i
k′ dt ′ ′
∂t  ∂x k′ ∂t ′
dx  v i  ∂x
i
dt ∂t dx  ∂t k′ ∂t v k′  ∂t
∂x k′ dt ′ ∂t ′ ∂x k′ ∂t ′

1
 ∂x k′ dx j  ∂x i ∂x k′ v j  ∂x k′
dx k′
 v k′  ∂x ′
j dt ∂t  ∂x j ∂t
dt ′ ∂t j ∂t ′
dx  ∂t v j  ∂t ′
′

∂x j dt ∂t ∂x j ∂t
so:
∂x i ∂x k′ u j  ∂x k′ ∂x k′ ∂x j u k′  ∂x j
u i  ∂t
′
, 0  ∂x ′
j ∂t , u k′  ∂t , 0  ∂x
k′ ∂t ′
∂t ∂t u j  ∂t ′ ∂t ′ ∂t u k′  ∂t
∂t ′ ∂x j ∂t ∂t ∂x k′ ∂t ′
∴
∂x i  u i ∂t , ∂x j u k′  − ∂x j
∂t ′ ∂t ′ ∂x k′ ∂t ′
∂x k′  u k′ ∂t ′ , ∂x u j  − ∂x k′
k′

∂t ∂t ∂x j ∂t
so:
c 2 ∂t′ ∂t′ − g ij u i u j ∂t′ ∂t′ − c 2  0
∂t ∂t ∂t ∂t
c − |u|
2 2 ∂t ∂t − c 2  0 , |u| 2 ≡ g ij u i u j
∂t ′ ∂t ′
∴
∂t  1 ≡ 
∂t ′ |u|2
1−
c2
so:
∂x i  u i 
∂t ′

and:
c 2 ∂tk′  − g ij ∂x i u j   0 , so ∂t  g ∂x i u j
ij
∂x ∂x k′ ∂x k′ ∂x k′ c 2
∴
∂t u k′  g ij ∂x i u k′ u j  −g ij ∂x i u j  −g ij u i  u j  − |u| 2
∂x k′ ∂x k′ c2 ∂t ′ c 2 c2 c2

and:
c 2 ∂tk′  − g ij ∂x i u j   0
∂x ∂x k′
∴
g ij ∂xk′ u j  c 2 ∂tk′
i

∂x ∂x
but:
c 2 ∂tk′ ∂tl′ u l′ − g ij ∂xk′ ∂xl′ u l′  g ′kl u l′  0
i j

∂x ∂x ∂x ∂x
∴
|u| 2
c 2 ∂tk′ − 2 − g ij ∂xk′ − ∂x′  g ′kl u l′  0
i j

∂x c ∂x ∂t
∴
|u| 2
c 2 ∂tk′ − 2  g ij ∂xk′ u j   g ′kl u l′  0
i

∂x c ∂x
∴
|u| 2
c 2 ∂tk′ − 2  c 2 ∂tk′   g ′kl u l′  0
∂x c ∂x
∴
∂t −|u| 2  c 2  g ′ u l′  0
kl
∂x k′
∴
∂t c 2 1 − |u| 2  −g ′ u l′
∂x k′ c2 kl

so:
∂t  −g ′ u l′ 
kl 2
∂x k′ c
and so:
c 2 −g ′kl u 2    − g ij ∂xk′ u j    0
l′ i

c ∂x
∴
g ij ∂xk′ u j  −g ′kl u l′ 
i

∂x

  − g ij ∂xk′ ∂xl′  g ′kl  0

r′ s′ i j
c 2 −g ′kr u 2 −g ′sl u 2
c c ∂x ∂x

g ij ∂xk′ ∂x j  g ′  g ′ g ′ u r′ u s′  2
i
kl kr sl c c
∂x ∂x l′
g ij ∂xk′ ∂x u l′  g ′ u l′  g ′ g ′ u r′ u s′  2 u l′
i j
kl kr sl c c
∂x ∂x l′
 −g ij ∂xk′ u j   g ′kl u l′  2
i

∂x

2
 u l′ g ′kl  2 − g ′kl − g ′kr g ′sl uc uc 2
r′ s′
0

this system of N equations in N variables ( u l′ ) is

NOT Linearly Independant.
for N3:
∀k  1, 2, 3 :
r′ s′
u 1′ g ′k1  2 − g ′k1 − g ′kr g ′1s uc uc  2  
r′ s′
 u 2′ g ′k2  2 − g ′k2 − g ′kr g ′2s uc uc  2  
r′ s′
 u 3′ g ′k3  2 − g ′k3 − g ′kr g ′3s uc uc  2   0
k1:
1′ 1′ 1′ 2′ 1′ 3′
u 1′  2 − 1 − uc uc  2   u 2′ − uc uc  2   u 3′ − uc uc  2   0
k2:
2′ 1′ 2′ 2′ 2′ 3′
u 1′ − uc uc  2   u 2′  2 − 1 − uc uc  2   u 3′ − uc uc  2   0
k3:
3′ 1′ 3′ 2′ 1′ 3′
u 1′ − uc uc  2   u 2′ − uc uc  2   u 3′  2 − 1 − uc uc  2   0
|u| 2
Note: 1   2 1 − 2
c
∴
|u| 2
 2 2   2 − 1    1 − 1
c

so:
2 |u| 2 2 |u| 2
  − 1 , so : 2  1
1 c2 1 c2
1′ 1′ 2′ 1′ 3′ 1′
− uc uc  2 − 1 −  2 − uc uc  2 − uc uc  2
1′ 2′ 2′ 2′ 3′ 2′
let Δ ≡ − uc uc  2 − uc uc  2 − 1 −  2 − uc uc  2
1′ 3′ 2′ 3′ 3′ 3′
− uc uc  2 − uc uc  2 − uc uc  2 − 1 −  2
1′
 − uc u 1′  2 − 1 −  2 − u 2′ u 2′  2 − 1 −  2 − u 3′ u 3′  2 − 1 −  2  − − u 2′ u 3′  2 − u 3′ u 2′  2  
c c c c c c c c c
2′
− − uc u 1′  2 − u 1′ u 2′  2 − u 3′ u 3′  2 − 1 −  2  − − u 1′ u 3′  2 − u 3′ u 2′  2  
c c c c c c c c c
3′
 − uc u 1′  2 − u 1′ u 2′  2 − u 2′ u 3′  2  − − u 1′ u 3′  2 − u 2′ u 2′  2 − 1 −  2 
c c c c c c c c c
1′
  6 − uc u 1′   −2 − 1 u 2′ u 2′   −2 − 1 u 3′ u 3′   −2 − 1 −  u 2′ u 3′  u 3′ u 2′  
c c c c c c c c c
2′ 1′ 1′ 2′ 3′ 3′ 1′ 3′ 3′ 2′
  uc uc u u
 c c  c c u u u u
  − 1 −  c c  c c  
−2 u u
3′ 1′ 1′ 2′ 2′ 3′ 1′ 3′ 2′ 2′
−  uc uc  uc uc  uc uc  −  uc uc  uc uc   −2 − 1
1′ 1′ 2′ 2′ 3′ 3′ 2′ 2′ 3′ 3′
  6 − uc uc   −2 − 1 uc uc  uc uc    −2 − 1 uc uc    uc uc  
2′ 2′ 3′ 3′
  −2 − 1 2 −  uc uc  uc uc  
2′ 1′ 1′ 2′ 3′ 3′ 1′ 2′ 1′ 3′ 3′ 2′
  uc uc  uc uc  uc uc    −2 − 1 uc uc  −  uc uc  uc uc  
3′ 1′ 1′ 2′ 2′ 3′ 1′ 3′ 2′ 2′ 1′ 3′
−  uc uc  uc uc  uc uc  −  uc uc  uc uc  −  uc uc  −2 − 1

2′ 2′ 3′ 3′ 2′ 2′ 3′ 3′ |u| 2 2′ 2′ |u| 2 3′ 3′
  6 −− uc uc − uc uc  uc uc  uc uc  −  2  uc uc  −  2  uc uc  
c c
|u| 2 |u| 2 u 2′
u 3′
u 3′
u 2′
  2  2  −  c c  c c  
c c
2′ 1′ 1′ 2′ 3′ 3′ |u| 2 1′ 2′ 1′ 3′ 3′ 2′
u
  c c  c c  c c  −  2  uc uc  −  uc uc  uc uc  
u u u u u
c
3′ 1′ 1′ 2′ 2′ 3′ 1′ 3′ 2′ 2′ |u| 2 1′ 3′
  c c  c c  c c  −  c uc  uc uc    2  uc uc 
u u u u u u u
c
2′ 3′ 2′ 3′ 2′ 1′ 2′ 3′
6 u
  −− c  −  c   c   c  −  c   c    c  2   uc  2  
2 u 2 u 2 u 2 u 2 u 2 u
3′ 1′ 2′ 3′
−  uc  2  uc  2   uc  2   uc  2  
1′ 2′ 3′ 1′ 2′ 3′ 2′ 3′
  uc  2   uc  2   uc  2  uc  2   uc  2   uc  2  −  uc  2  uc  2  
1′ 2′ 3′ 1′ 2′ 1′ 2′ 3′
  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2   uc  2   uc  2  
1′ 2′ 3′
−  uc  2  uc  2  uc  2  
1′ 2′ 3′ 1′ 2′ 3′ 1′ 3′ 1′ 2′ 3′
−  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2   uc  2  uc  2  uc  2   uc  2   uc  2 
2′ 3′ 2′ 1′ 2′ 2′
  6  uc  2   uc  2 − uc  2  uc  2 −  uc  2  uc  2 
3′ 1′ 3′ 2′ 3′ 3′
−  uc  2  uc  2 −  uc  2  uc  2 −  uc  2  uc  2 
1′ 1′ 1′ 2′ 1′ 3′
  uc  2  uc  2 −  uc  2  uc  2 −  uc  2  uc  2 
2′ 1′ 2′ 2′ 2′ 3′
  uc  2  uc  2 −  uc  2  uc  2 −  uc  2  uc  2 

3
 3′ 1′ 3′ 2′ 3′ 3′ 2′ 3′
  uc  2  uc  2 −  uc  2  uc  2 −  uc  2  uc  2 −  uc  2  uc  2  
1′ 2′ 1′ 1′ 2′ 2′ 1′ 2′ 3′
 − uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2  
1′ 3′ 1′ 1′ 3′ 2′ 1′ 3′ 3′
 − uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2 
2′ 1′ 1′ 2′ 1′ 2′ 2′ 1′ 3′
  6  uc  2  uc  2  uc  2   uc  2  uc  2  uc  2   uc  2  uc  2  uc  2 
3′ 1′ 1′ 3′ 1′ 2′ 3′ 1′ 3′
  uc  2  uc  2  uc  2   uc  2  uc  2  uc  2   uc  2  uc  2  uc  2 
1′ 2′ 1′ 1′ 2′ 2′ 1′ 2′ 3′
−  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2 
1′ 3′ 1′ 1′ 3′ 2′ 1′ 3′ 3′
−  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2 −  uc  2  uc  2  uc  2 
0 ✓

Note:

c 2 ∂tk′ u k′ ∂tl′ u l′ − g ij ∂xk′ u k′ ∂xl′ u l′  g ′kl u k′ u l′  0

i j

∂x ∂x ∂x ∂x

so:
|u| 2 |u| 2
c 2 − − − g ij − ∂x′ − ∂x′
i j
 g ′kl u k′ u l′  0
c2 c2 ∂t ∂t
|u| 2 |u| 2
c 2 − − − g ij −u i  −u j    |u | 2  0
′
c2 c2
|u| 2
|u| 2  2 −  2 |u| 2  |u | 2  0
′
2
c
∴
|u| 2
|u | 2  |u| 2  2 1 −
′
 |u| 2
c2
Now,
g ij ∂xk′ ∂xl′  g ′kl  g ′kr g ′sl uc uc 2
i j r′ s′
is very general; allowing any
∂x ∂x
curviliear coordinate system
for each reference frame
In order tp get to specific Lorentz Transformations, consider
Rectangular Cartesian Coordinates for each reference frame:
g ij   ij , g ′kl   kl
∴
 ij ∂xk′ ∂xl′   kl   kr  sl uc uc  2   kl  uc uc  2
i j r′ s′ k′ l′

∂x ∂x
2 2 |u| 2
  kl  uc uc  2   kl  uc uc
k′ l′ k′ l′
2
1 1 c2
2
k′ l′ 2 |u| 2 2
  kl  uc uc  2
1 c2 1

2
k′ l′ 2 |u| 2
  kl  uc uc 
1 c2

2 u l′ u k′  u k′ u l′

1 c c c c
2
k′ l′ 2 |u| 2
  kl  uc uc 
1 c2

2 i′ k′ j′ l′
  il uc uc   kj uc uc
1
2
i′ j′ k′ l′ 2
  ij  ik  l   ij uc uc uc uc
j

1

2 j i′ k′ j′ l′
  ij  l uc uc   ij  ik uc uc
1
2
i′ j′ k′ l′ 2
  ij  ik  l  uc uc uc uc
j

1

2 j i′ u k′   i u j′ u l′ 
  l uc
1 c k c c
2 u i′ u k′ j 2 u j′ u l′
  ij  ik   
1 c c l
1 c c

thus:
∂x i   i  2 u i′ u k′
∂x k′ k
1 c c

so, between reference frames using

Rectangular Cartesian Coordinate Systems,

4
 a Lorentz Transformation is given by:
2 u i′ u j′   i
x i  x j′ − u j′ t ′
1 c c j

i′
t   t ′ − u 2 x i′
c

∂x  2 u 1′ u 1′  1 ∂x  2 u 1′ u 2′ ∂x  2 u 1′ u 3′ ∂x  −u 1′ 
∂x ′ 1 c c ∂y ′ 1 c c ∂z ′ 1 c c ∂t ′
∂y 2 u 2′ u 1′ ∂y 2 u 2′ u 2′  1 ∂y 2 u 2′ u 3′ ∂y
    −u 2′ 
∂x ′ 1 c c ∂y ′ 1 c c ∂z ′ 1 c c ∂t ′
2 2 2
∂z   u 3′ u 1′ ∂z   u 3′ u 2′ ∂z   u 3′ u 3′  1 ∂z  −u 3′ 
∂x ′  1 c c ∂y ′  1 c c ∂z ′  1 c c ∂t ′
∂t  − u 1′  ∂t  − u 2′  ∂t  − u 3′  ∂t  
∂x ′ c2 ∂y ′ c2 ∂z ′ c2 ∂t ′
so:
∂x ∂x 1′ 1′
 ∂x′ ∂x  ∂x′ ∂x   2 uc uc  1
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′
∂x ∂y ∂y ∂y 1′ 2′
 ∂x′  ∂x′   2 uc uc
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′
∂x ∂z 1′ 3′
 ∂x′ ∂z  ∂x′ ∂z   2 uc uc
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′
∂x ∂t 1′
 ∂x′ ∂t  ∂x′ ∂t  − 2 u 2
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′ c
∂y ∂x ∂y ∂x ∂y ∂x 2′ 1′
  ′   2 uc uc
∂x ′ ∂x ′ ∂y ′ ∂y ′ ∂z ∂z ′
∂y ∂y ∂y ∂y ∂y ∂y 2′ 2′
  ′   2 uc uc  1
∂x ′ ∂x ′ ∂y ′ ∂y ′ ∂z ∂z ′
∂y ∂z ∂y ∂z ∂y ∂z 2′ 3′
  ′   2 uc uc
∂x ′ ∂x ′ ∂y ′ ∂y ′ ∂z ∂z ′
∂y ∂t ∂y ∂t ∂y ∂t 2′
  ′  − 2 u 2
∂x ′ ∂x ′ ∂y ′ ∂y ′ ∂z ∂z ′ c
∂z ∂x 3′ 1′
 ∂z′ ∂x  ∂z′ ∂x   c uc
2 u
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′
∂z ∂y ∂y ∂y 3′ 2′
 ∂z′  ∂z′   2 uc uc
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′
∂z ∂z 3′ 3′
 ∂z′ ∂z  ∂z′ ∂z   2 uc uc  1
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′
∂z ∂t 3′
 ∂z′ ∂t  ∂z′ ∂t  − 2 u 2
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′ c
|u| 2
∂t ∂t  ∂t′ ∂t  ∂t′ ∂t   2 12 2
∂x ′ ∂x ′ ∂y ∂y ′ ∂z ∂z ′ c c

Note, also:
∂x k  −u k′  , so u k  −u k′
∂t ′

But,
 j 
 j dx  dr  dr ′   ′k dx k′

  j ∂xk′ dx k′
j

∂x
∴
 ′  ∂x j
 k   j k′
∂x
let,
   
i ≡ ∂r1 , j ≡ ∂r2 , k ≡ ∂r3 , t ≡ ∂r0 ,
∂x ∂x ∂x ∂x

so:
 ′  ∂x  ∂y  ∂z  ∂t
i  i ′  j ′ k ′  t ′
∂x ∂x ∂x ∂x
 ′  ∂x  ∂y  ∂z  ∂t
j  i ′  j ′ k ′  t ′
∂y ∂y ∂y ∂y
 ′  ∂x  ∂y  ∂z  ∂t
k  i ′  j ′ k ′  t ′
∂z ∂z ∂z ∂z
 ′  ∂x  ∂y  ∂z  ∂t
t  i ′  j ′ k ′  t ′
∂t ∂t ∂t ∂t
for the embedded 3-space:

5
      
i  i  1 i  j  0 i k  0 1 0 0
       g ij ≡ 0 1 0
j  i  0 j  j  1 j k  0
      0 0 1
k i  0 k j  0 kk  1

for the 4-space-time:

       
i  i 1 i j  0 i k 0 i t 0 −c 2 0 0 0
        0 1 0 0
j i 0 jj  1 j k 0 i t 0  g ij ≡
        0 0 1 0
k i  0 k j  0 kk 1 i t 0
        0 0 0 1
t i 0 tj  0 t k 0 tt  −c 2

′  2 u 1′ u 1′  1  j 2 u 2′ u 1′
i  i 
1 c c 1 c c
 2 u 3′ u 1′  t − u 1′ 
k
1 c c c2
′   2
u 1′ u 2′  j  2
u 2′ u 2′  1
j  i 
1 c c 1 c c
 2 u 3′ u 2′  t − u 2′ 
k
1 c c c2
′   2
u 1′ u 3′  j  2
u 2′ u 3′ 
k  i
1 c c 1 c c
 2 u 3′ u 3′  1  t − u 3′ 
k
1 c c c2
 ′  1′  2′  3′ 
t  i −u   j −u   k−u   t 
so:
′  2 u 1′ ′  1′
i  i  u  t − u2 
1 c2 c
′  2 u 2′ ′  u 2′
j  j u t − 2 
1 c2 c
′  2 u 3′ ′  3′
k  k u  t − u2 
1 c2 c
′  ′
t   t − u
But
 ′ k′ 
 k dx  dr ′  dr   j dx j

  ′k ∂x j dx j
k′

∂x
∴

 
 j   ′k ∂x j ∂x j ∂x k′   j ∂x k′ ∂x i   k
k′
, i and l
∂x ∂x k′ ∂x i ∂x i ∂x l′

′ ′ ′ ′ ′ ′ ′ ′
i ≡ ∂r1′ , j ≡ ∂r2′ , k ≡ ∂r3′ , t ≡ ∂r0′ ,
∂x ∂x ∂x ∂x

so:
  ′ ∂x ′  ′ ∂y ′  ′ ∂z ′  ′ ∂t ′
i  i j k t
∂x ∂x ∂x ∂x
  ′ ∂x ′  ′ ∂y ′  ′ ∂z ′  ′ ∂t ′
j  i j k t
∂y ∂y ∂y ∂y
  ′ ∂x ′  ′ ∂y ′  ′ ∂z ′  ′ ∂t ′
k i j k t
∂z ∂z ∂z ∂z
  ′ ∂x ′  ′ ∂y ′  ′ ∂z ′  ′ ∂t ′
t  i j k t
∂t ∂t ∂t ∂t

Applying Cramer’s Rule, let:

2 u 1′ u 1′  1 2 u 2′ u 1′ 2 u 3′ u 1′ 1′
− u2 
1 c c 1 c c 1 c c c
2 u 1′ u 2′ 2 u 2′ u 2′  1 2 u 3′ u 2′ 2′
− u2 
Δ≡ 1 c c 1 c c 1 c c c
2 u 1′ u 3′ 2 u 2′ u 3′ 2 u 3′ u 3′  1 − u 3′ 
1 c c 1 c c 1 c c c2
−u 1′  −u 2′  −u 3′  

6
 2 u 2′ u 2′  1 2 u 3′ u 2′ 2′
− u2 
1 c c 1 c c c
Δ 11 ≡ 2 u 2′ u 3′ 2 u 3′ u 3′  1 − u 3′ 
1 c c 1 c c c2
−u 2′  −u 3′  
2 u 2′ u 1′ 2 u 3′ u 1′ 1′
− u2 
1 c c 1 c c c
Δ 12 ≡ 2 u 2′ u 3′ 2 u 3′ u 3′  1 − u 3′ 
1 c c 1 c c c2
−u 2′  −u 3′  
2 u 2′ u 1′ 2 u 3′ u 1′ 1′
− u2 
1 c c 1 c c c
Δ 13 ≡ 2 u 2′ u 2′  1 2 u 3′ u 2′ 2′
− u2 
1 c c 1 c c c
−u 2′  −u 3′  
2 u 2′ u 1′ 2 u 3′ u 1′ 1′
− u2 
1 c c 1 c c c
2 u 2′ u 2′  1 2 u 3′ u 2′ 2′
Δ 14 ≡ − u2 
1 c c 1 c c c
2 u 2′ u 3′ 2 u 3′ u 3′  1 − u 3′ 
1 c c 1 c c c2
2 u 1′ u 2′ 2 u 3′ u 2′ 2′
− u2 
1 c c 1 c c c
Δ 21 ≡ 2 u 1′ u 3′ 2 u 3′ u 3′  1 − u 3′ 
1 c c 1 c c c2
−u 1′  −u 3′  
2 u 1′ u 1′  1 2 u 3′ u 1′ 1′
− u2 
1 c c 1 c c c
Δ 22 ≡ 2 u 1′ u 3′ 2 u 3′ u 3′  1 − u 3′ 
1 c c 1 c c c2
−u 1′  −u 3′  
2 u 1′ u 1′  1 2 u 3′ u 1′ 1′
− u2 
1 c c 1 c c c
Δ 23 ≡ 2 u 1′ u 2′ 2 u 3′ u 2′ 2′
− u2 
1 c c 1 c c c
−u 1′  −u 3′  
2 u 1′ u 1′  1 2 u 3′ u 1′ 1′
− u2 
1 c c 1 c c c
2 u 1′ u 2′ 2 u 3′ u 2′ 2′
Δ 24 ≡ − u2 
1 c c 1 c c c
2 u 1′ u 3′ 2 u 3′ u 3′  1 − u 3′ 
1 c c 1 c c c2
2 u 1′ u 2′ 2 u 2′ u 2′  1 − u 2′ 
1 c c 1 c c c2
Δ 31 ≡ 2 u 1′ u 3′ 2 u 2′ u 3′ 3′
− u2 
1 c c 1 c c c
−u 1′  −u 2′  

2 u 1′ u 1′  1 2 u 2′ u 1′ 1′
− u2 
1 c c 1 c c c
Δ 32 ≡ 2 u 1′ u 3′ 2 u 2′ u 3′ 3′
− u2 
1 c c 1 c c c
−u 1′  −u 2′  
2 u 1′ u 1′  1 2 u 2′ u 1′ 1′
− u2 
1 c c 1 c c c
Δ 33 ≡ 2 u 1′ u 2′ 2 u 2′ u 2′  1 − u 2′ 
1 c c 1 c c c2
−u 1′  −u 2′  

7
 2 u 1′ u 1′  1 2 u 2′ u 1′ 1′
− u2 
1 c c 1 c c c
2 u 1′ u 2′ 2 u 2′ u 2′  1 − u 2′ 
Δ 34 ≡
1 c c 1 c c c2
2 u 1′ u 3′ 2 u 2′ u 3′ 3′
− u2 
1 c c 1 c c c
2 u 1′ u 2′ 2 u 2′ u 2′  1 2 u 3′ u 2′
1 c c 1 c c 1 c c
Δ 41 ≡ 2 u 1′ u 3′ 2 u 2′ u 3′ 2 u 3′ u 3′  1
1 c c 1 c c 1 c c
−u 1′  −u 2′  −u 3′ 
2 u 1′ u 1′  1 2 u 2′ u 1′ 2 u 3′ u 1′
1 c c 1 c c 1 c c
Δ 42 ≡ 2 u 1′ u 3′ 2 u 2′ u 3′ 2 u 3′ u 3′  1
1 c c 1 c c 1 c c
−u 1′  −u 2′  −u 3′ 
2 u 1′ u 1′  1 2 u 2′ u 1′ 2 u 3′ u 1′
1 c c 1 c c 1 c c
Δ 43 ≡ 2 u 1′ u 2′ 2 u 2′ u 2′  1 2 u 3′ u 2′
1 c c 1 c c 1 c c
−u 1′  −u 2′  −u 3′ 
2 u 1′ u 1′  1 2 u 2′ u 1′ 2 u 3′ u 1′
1 c c 1 c c 1 c c
2 u 1′ u 2′ 2 u 2′ u 2′  1 2 u 3′ u 2′
Δ 44 ≡
1 c c 1 c c 1 c c
2 u 1′ u 3′ 2 u 2′ u 3′ 2 u 3′ u 3′  1
1 c c 1 c c 1 c c
∴
 ′ Δ 11  j ′ −Δ 12 ′ Δ 13  t ′ −Δ 14
i  i k
Δ Δ Δ Δ
 ′ −Δ 21  j ′ Δ 22 ′ −Δ 23  t ′ Δ 24
j  i k
Δ Δ Δ Δ
 ′ Δ 31  j ′ −Δ 32 ′ Δ 33  t ′ −Δ 34
k  i k
Δ Δ Δ Δ
 ′ −Δ 41  j ′ Δ 42 ′ −Δ 43  t ′ Δ 44
t  i k
Δ Δ Δ Δ

2 u 2′ u 2′  1 2 u 3′ u 3′  1  − − u 3′  −u 3′  
Δ 11 
1 c c 1 c c c2
2
 u 2′ u 3′ 2 u 3′ u 2′  − − u 2′  −u 3′  
−
1 c c 1 c c c2
2 u 3′ u 2′ u 3′  − − u 2′  2 u 3′ u 3′  1
 −u 2′  −
1 c c c2 c2 1 c c
2 2
 u 2′ u 2′  1 u 3′ u 3′ 
  − 2   
1 c c c c 1
2 u 2′ u 3′ u 3′ u 2′ 2
−  − 2 
1 c c c c 1
u 3′ u 2′ u 3′ 2 2 2′
 −u 2′  − − − − − u2 
c c c2 1 1 c
2 2
 2′
u u 1 2′ 3′
u u 3′ 
 −  
1 c c c c 1
2 u 2′ u 3′ u 3′ u 2′ 2
− − 
1 c c c c 1
2′
 −u 2′  − − u 2 
c
2′ 2′ 2 3′ 3′ 2
 uc uc   uc uc − 
1 1
2
2′ 2′
u 3′ u 3′ 2
 uc uc − 
c c 1
2
u 2′ u 3′ u 3′ u 2′ 2 2′ 2′
− −  − uc − − uc  2
c c c c 1
u 2′ u 2′ 2 u 3′ u 3′ 2
  − 2  − 
c c 1 c c 1

8
 u 2′ u 2′ 2 u 3′ u 3′ 2
Δ 11  −  − 
c c 1 c c 1

2 u 2′ u 1′ u 3′ u 3′ 2
Δ 12  −  
1 c c c c 1
2 u 2′ u 3′ 2 u 3′ u 1′  − − u 1′  −u 3′  
−
1 c c 1 c c c2
2 u 3′ u 1′ u 3′  − − u 1′  2 u 3′ u 3′  1
 −u 2′  −
1 c c c2 c2 1 c c
2 2
 u 2′ u 1′ u 3′ u 3′ 
  − 2   
1 c c c c 1
2 u 2′ u 3′ u 3′ u 1′ 2
−  − 2 
1 c c c c 1
u 3′ u 1′ u 3′ 2 2 1′
 −u 2′  − − − − − u2 
c c c2 1 1 c
2 2
 u 2′ u 1′ u 3′ u 3′ 
 −  
1 c c c c 1
2 u 2′ u 3′ u 3′ u 1′ 2
− − 
1 c c c c 1
1′
 −u 2′  − − u 2 
c
2′ 1′ 2
 uc uc  
1
2 2
2′ 1′
u 3′ u 3′ 2 u 2′ u 3′ u 3′ u 1′ 2
 uc uc − − − 
c c 1 c c c c 1
2′ 1′
 − uc − − uc  2
2′ 1′ 2
 uc uc  − 2
1
∴
u 2′ u 1′ 2
Δ 12  −
c c 1

2 u 2′ u 1′ 2 u 3′ u 2′  − − u 2′  −u 3′  
Δ 13 
1 c c 1 c c c2
2 u 2′ u 2′  1 2 u 3′ u 1′  − − u 1′  −u 3′  
−
1 c c 1 c c c2
2
 u 3′ u 1′ u 2′  − − u 1′  2 u 3′ u 2′
 −u 2′  −
1 c c c 2
c 2 1 c c
2 2
 u 2′ u 1′ u 3′ u 2′ 
  − 2 
1 c c c c 1
2 u 2′ u 2′  1 u 3′ u 1′ 2
−  − 2 
1 c c c c 1
u 3′ u 1′ u 2′ 2 2
 −u 2′  − − −
c c c2 1 1
2 2
 2′
u u 1′
u u3′ 2′ 
 − 
1 c c c c 1
2 u 2′ u 2′  1 u 3′ u 1′ 2
− −
1 c c c c 1
2 2
2′ 1′
u 3′ u 2′ 
 uc uc − 
c c 1
2
u 2′ u 2′ u 3′ u 1′ 2 u 3′ u 1′ 2
− − 1 − −
c c c c 1 c c 1
∴
u 3′ u 1′ 2
Δ 13  c c 1

2 u 2′ u 1′ 2 u 3′ u 2′ u 3′  − − u 2′  2 u 3′ u 3′  1
Δ 14  − 
1 c c 1 c c c 2
c 2 1 c c
2 u 2′ u 2′  1 2 u 3′ u 1′ u 3′  − − u 1′  2 u 3′ u 3′  1
− − 
1 c c 1 c c c2 c2 1 c c
2 2 2
 u 2′ u 3′  u 3′ u 1′ 2′ 1′  u 3′ u 2′
 − u2  − − u2 
1 c c 1 c c c c 1 c c
2 u 2′ u 1′ u 3′ u 2′ u 3′ 2 2 u 2′ 
 − − − − − 
1 c c c c c2 1 1 c2
2 u 2′ u 2′  1 u 3′ u 1′ u 3′ 2 2 1′
− − − − − − u2  
1 c c c c c 2 1 1 c
2 u 2′ u 3′ u 3′ u 1′ u 2′ 2 2
 − − −
1 c c c c c2 1 1
2 2
 u 2′ u 1′ 2′  u 2′ u 2′  1 − − u 1′ 
 − − u2  −
1 c c c 1 c c c2
∴

9
 1′
Δ 14  − u 2 
c
2 u 1′ u 2′ 2 u 3′ u 3′  1  − − u 3′  −u 3′  
Δ 21 
1 c c 1 c c c2
2 u 1′ u 3′ 2 u 3′ u 2′  − − u 2′  −u 3′  
−
1 c c 1 c c c2
2
 u 3′ u 2′ u 3′  − − u 2′  2 u 3′ u 3′  1
 −u 1′  −
1 c c c 2
c 2 1 c c
2 u 1′ u 2′ u 3′ u 3′  2
  −  2   
1 c c c c 1
2 u 1′ u 3′ u 3′ u 2′ 2
−  −  2 
1 c c c c 1
u 3′ u 2′ u 3′ 2 2 2′
 −u 1′  − − − − − u2 
c c c2 1 1 c
2 u u1′ 2′ 3′
u u 3′  2
 −  
1 c c c c 1
2 u 1′ u 3′ u 3′ u 2′ 2
− − 
1 c c c c 1
2′
 −u 1′  − − u2 
c
2 u u 2′
1′
u 3′ u 3′ 2 2
 − − − 
1 c c c c 1 1
2 u 1′ u 2′   u 1′ u 2′ − 2 

1 c c c c
∴
u 1′ u 2′ 2
Δ 21  −
c c 1

2 u 1′ u 1′  1 2 u 3′ u 3′  1  − − u 3′  −u 3′  
Δ 22 
1 c c 1 c c c2
2 u 1′ u 3′  2
u 3′ u 1′  − − u 1′  −u 3′  
−
1 c c 1 c c c2
2 u 3′ u 1′ u 3′  − − u 1′  2 u 3′ u 3′  1
 −u 1′  −
1 c c c2 c2 1 c c
2 u 1′ u 1′  1 u 3′ u 3′  2
  −  2   
1 c c c c 1
2 u 1′ u 3′ u 3′ u 1′ 2
−  −  2 
1 c c c c 1
u 3′ u 1′ u 3′ 2 2 1′
 −u 1′  − − − − − u2 
c c c2 1 1 c
2 1′
u u 1 1′ 3′
u u 3′  2
 −  
1 c c c c 1
2 u 1′ u 3′ u 3′ u 1′ 2
− − 
1 c c c c 1
1′
 −u 1′  − − u2 
c
2
u 1′ u 1′ u 3′ u 3′ 2
 − 
c c c c 1
u 1′ u 1′ 2 3′ 3′ 2
   uc uc − 
c c 1 1
2
u 1′ u 3′ u 3′ u 1′ 2 u 1′ u 1′ − 2 
− − 
c c c c 1 c c
∴
u 1′ u 1′ 2 u 3′ u 3′ 2
Δ 22  −  − 
c c 1 c c 1

2 u 1′ u 1′  1 2 u 3′ u 2′ 2′
Δ 23   − − u 2  −u 3′  
1 c c 1 c c c
2 u u1′ 2′  2
u 3′ u 1′
u 1′
3′
−
1 c c 1 c c  − − c 2  −u  
2 u 3′ u 1′ u 2′  − − u 1′  2 u 3′ u 2′
 −u 1′  −
1 c c c 2
c 2 1 c c
2 u 1′ u 1′  1 u 3′ u 2′ 2
  −  2 
1 c c c c 1
2 u 1′ u 2′ u 3′ u 1′ 2
−  −  2 
1 c c c c 1
u 3′ u 1′ u 2′ 2 2
 −u 1′  − − −
c c c2 1 1
2 2
 1′
u u 1 1′ 3′
u u 2′ 
 − 
1 c c c c 1

10
 2 u 1′ u 2′ u 3′ u 1′ 2
− −
1 c c c c 1
u u 1′
1′
u 3′ u 2′ 2
 − 
c c c c 1
u 1′ u 2′ u 3′ u 1′ 2 u 3′ u 2′ 2
− −  −
c c c c 1 c c 1
∴
u 3′ u 2′ 2
Δ 23  −
c c 1

2 u 1′ u 1′  1 2 u 3′ u 2′ u 3′  − − u 2′  2 u 3′ u 3′  1
Δ 24  − 
1 c c 1 c c c 2
c 2 1 c c
2 u 1′ u 2′ 2 u 3′ u 1′ u 3′  − − u 1′  2 u 3′ u 3′  1
− − 
1 c c 1 c c c2 c2 1 c c
2
 u 1′ u 3′ 2 u 3′ u 1′ u 2′  − − u 1′  2 u 3′ u 2′
 −
1 c c 1 c c c 2
c 2 1 c c
2 u 1′ u 1′  1 u 3′ u 2′ u 3′ 2 2 u 2′ 
 − − − − − 
1 c c c c c2 1 1 c2
2
 u 1′ u 2′ u 3′ u 1′ u 3′ 2 2 1′
− − − − − − u2  
1 c c c c c2 1 1 c
2 u 1′ u 3′ u 3′ u 1′ u 2′ 2 2
 − − −
1 c c c c c2 1 1
2 2
 u 1′ 1′
u 1 − −u  2′  1′
u u 2′ 1′
 − − − u2 
1 c c c 2 1 c c c
2 2
u 1′ u 1′ u 2′   2′
 −− − − −  − − u 2 
c c c2 1 1 c
∴
2′
Δ 24  u 2 
c
2 u 1′ u 2′ 2 u 2′ u 3′ 3′
Δ 31   − − u 2  −u 2′  
1 c c 1 c c c
2 u u1′ 3′ 2 2′ 2′
u u  1  − − u 2′  −u 2′  
−
1 c c 1 c c c2
2 u 2′ u 2′  1 − u 3′  − − u 2′  2 u 2′ u 3′
 −u 1′ 
1 c c c2 c2 1 c c
2 2
 u 1′ u 2′ u 2′ u 3′ 
  −  2 
1 c c c c 1
2 u 1′ u 3′ u 2′ u 2′ 2
−  −  2   
1 c c c c 1
u 2′ u 2′ u 3′ 2 2 3′
 −u 1′  − − −  − u2 
c c c2 1 1 c
2 2 2
1′ 2′
u 2′ u 3′  u 1′ u 3′ u 2′ u 2′ 2
 uc uc − − − 
c c 1 c c c c 1
2
 u 1′ u 3′   −u 1′  − u 3′ 
−
1 c c c2
1′ 3′ 2
 uc uc −    2
1
∴
u 1′ u 3′ 2
Δ 31  c c 1

2 u 1′ u 1′  1 2 u 2′ u 3′  − − u 3′  −u 2′  
Δ 32 
1 c c 1 c c c2
2 u 1′ u 3′  2
u 2′ u 1′  − − u 1′  −u 2′  
−
1 c c 1 c c c2
2 u 2′ u 1′ u 3′  − − u 1′  2 u 2′ u 3′
 −u 1′  −
1 c c c 2
c 2 1 c c
2 u 1′ u 1′  1 u 2′ u 3′  2
  −  2 
1 c c c c 1
2 u 1′ u 3′ u 2′ u 1′ 2
− − −  2 
1 c c c c 1
u 2′ u 1′ u 3′ 2 2
 −u 1′  − − −
c c c2 1 1
2 u 1′ u 1′  1 u 2′ u 3′  2
 − 
1 c c c c 1
2 u 1′ u 3′ u 2′ u 1′ 2
− −
1 c c c c 1
2 2 2
u 1′ u 1′ u 2′ u 3′  u 1′ u 3′ u 2′ u 1′ 2
 −  − 
c c c c 1 c c c c 1
2
u 2′ u 3′ 
 −
c c 1

11
∴
u 2′ u 3′ 2
Δ 32  −
c c 1

2 u 1′ u 1′  1 2 u 2′ u 2′  1  − − u 2′  −u 2′  
Δ 33 
1 c c 1 c c c2
2 u 1′ u 2′  2
u 2′ u 1′  − − u 1′  −u 2′  
−
1 c c 1 c c c2
2 u 2′ u 1′ u 2′  − − u 1′  2 u 2′ u 2′  1
 −u 1′  −
1 c c c2 c2 1 c c
2 u 1′ u 1′  1 u 2′ u 2′  2
  − 2   
1 c c c c 1
2 u 1′ u 2′ u 2′ u 1′ 2
−  − 2 
1 c c c c 1
u 2′ u 1′ u 2′ 2 2 1′
 −u 1′  − − − − − u2 
c c c2 1 1 c
2 1′
u u 1 1′ 2′
u u 2′  2
 −  
1 c c c c 1
2 u 1′ u 2′ u 2′ u 1′ 2
− − 
1 c c c c 1
1′
 −u 1′  − − u2 
c
2
u 1′ u 1′ u 2′ u 2′ 2 u 1′ u 1′ 2
 −   
c c c c 1 c c 1
u 2′ u 2′ 2
 − 
c c 1
2
u 1′ u 2′ u 2′ u 1′ 2 u 1′ u 1′ − 2 
− − 
c c c c 1 c c
∴
u 1′ u 1′ 2 u 2′ u 2′ 2
Δ 33  −  − 
c c 1 c c 1

2 u 1′ u 1′  1 2 u 2′ u 2′  1 − u 3′  − − u 2′  2 u 2′ u 3′
Δ 34  
1 c c 1 c c c 2
c 2 1 c c
2 u 1′ u 2′ 2 u 2′ u 1′ u 3′  − − u 1′  2 u 2′ u 3′
− − 
1 c c 1 c c c2 c2 1 c c
2 u 1′ u 3′ 2 u 2′ u 1′ u 2′  − − u 1′  2 u 2′ u 2′  1
 −
1 c c 1 c c c 2
c 2 1 c c
2 u 1′ u 1′  1 u 2′ u 2′ u 3′ 2 2 u 3′ 
 − − −  − 
1 c c c c c2 1 1 c2
2 u 1′ u 2′ u 2′ u 1′ u 3′ 2 2
− − − − 
1 c c c c c2 1 1
2 u 1′ u 3′ u 2′ u 1′ u 2′ 2 2 1′
 − − − − − u2 
1 c c c c c2 1 1 c
2 u 1′ 1′
u 1 3′
 − u2  
1 c c c
2 u 1′ u 3′ 1′
 − − u2 
1 c c c
∴
3′
Δ 34  − u 2 
c
2 u 1′ u 2′ 2 u 2′ u 3′ 2 u 3′ u 3′  1 −u 2′ 
Δ 41  −u 3′  − 
1 c c 1 c c 1 c c
2 u 1′ u 3′ 2 u 2′ u 2′  1 −u 3′  −
2
 u 3′ u 2′ −u 2′  
−
1 c c 1 c c 1 c c
2 u 2′ u 2′ 2 u 3′ u 3′  1 − 2 u 3′ u 2′ 2 u 2′ u 3′
 −u 1′  1
1 c c 1 c c 1 c c 1 c c
2 u 1′ u 2′ u 2′ u 3′ u 3′  2
 2
 − − − − −u 2′  
1 c c c c 1 1
2 u 1′ u 3′ u 2′ u 2′ u 3′ 2 2
− − − −  −u 3′  
1 c c c c 1 1
2
2′ 2′
u 3′ u 3′ 2 2′ 2′ 2
 −u 1′  uc uc  uc uc 
c c 1 1
2
u 3′ u 3′ 2 u 3′ u 2′ u 2′ u 3′ 2
 c c 1
1− c c c c 1

2 u 1′ u 2′ 2 u 1′ u 3′ −u 3′  
 −−u 2′  −
1 c c 1 c c
u 2′ u 2′ 2 u u 3′
3′ 2
 −u 1′   1
c c 1 c c 1
∴

12
 Δ 41  − u 1′ 

2 u 1′ u 1′  1 2 u 2′ u 3′ 2 u 3′ u 3′  1 −u 2′ 
Δ 42  −u 3′  − 
1 c c 1 c c 1 c c
2 u 1′ u 3′ 2 u 2′ u 1′ −u 3′  − 2 u 3′ u 1′ −u 2′  
−
1 c c 1 c c 1 c c
2 u 2′ u 1′  2
u 3′ u 3′  1 −  2
u 3′ u 1′ 2 u 2′ u 3′
 −u 1′ 
1 c c 1 c c 1 c c 1 c c
2 u 1′ u 1′  1 2′ 3′
u u u 3′  2
 2
 − − − − −u 2′  
1 c c c c 1 1
2
 u 1′ u 3′ u 2′ u 1′ u 3′ − − 2
− − 
1 c c c c 1
2
2′ 1′
u 3′ u 3′ 2 u 2′ u 1′ 2
 −u 1′  uc uc  
c c 1 c c 1
2
u 3′ u 1′ u 2′ u 3′ 2
− c c c c 1

2 u 1′ u 1′  1 −−u 2′   −u 1′  u 2′ u 1′ 2

1 c c c c 1
u 1′ u 1′ u 2′ 2 2
   −  −−u 2′ 
c c 1 1
∴
Δ 42  u 2′ 

2 u 1′ u 1′  1 2 u 2′ u 2′  1 −u 3′  − 2 u 3′ u 2′ −u 2′  
Δ 43 
1 c c 1 c c 1 c c
2 u 1′ u 2′  2
u 2′ u 1′ −u 3′  −  2
u 3′ u 1′ −u 2′  
−
1 c c 1 c c 1 c c
2 u 2′ u 1′ 2 u 3′ u 2′ − 2 u 3′ u 1′ 2 u 2′ u 2′  1
 −u 1′ 
1 c c 1 c c 1 c c 1 c c
2 u 1′ u 1′  1 u 2′ u 2′ u 3′  2
 2
 − − −  −u 3′  
1 c c c c 1 1
2 u 1′ u 2′ u 2′ u 1′ u 3′ 2 2
− − − − 
1 c c c c 1 1
2 2
2′ 1′
u 3′ u 2′ 2 3′ 1′ 2′ 2′ 2
 −u 1′  uc uc − c c u u u u 
c c 1 c c 1
2 u 3′ u 1′ 
−
1 c c
2
 u 1′ u 1′  1 −u 3′   −u 1′  − 2 u 3′ u 1′

1 c c 1 c c
u 1′ u 1′ u 3′ 2 2
 −  − −  −u 3′ 
c c 1 1
∴
Δ 43  − u 3′ 

2 u 1′ u 1′  1 2 u 2′ u 2′  1 2 u 3′ u 3′  1 − 2 u 3′ u 2′ 2 u 2′ u 3′
Δ 44  
1 c c 1 c c 1 c c 1 c c 1 c c
2 u 1′ u 2′  2
u 2′ u 1′ 2 u 3′ u 3′  1 − 2 u 3′ u 1′ 2 u 2′ u 3′
− 
1 c c 1 c c 1 c c 1 c c 1 c c
2 u 1′ u 3′  2
u 2′ u 1′ 2 u 3′ u 2′ − 2 u 3′ u 1′ 2 u 2′ u 2′  1

1 c c 1 c c 1 c c 1 c c 1 c c
2
2 u 1′ u 1′  1 u 2′ u 2′ u 3′ u 3′ 2 u 2′ u 2′ 2

1 c c  c c c c 1
 c c 1

2
u 3′ u 3′ 2 u 3′ u 2′ u 2′ u 3′ 2
 c c 1
1− c c c c 1

2
2 u 1′ u 2′ u 2′ u 1′ u 3′ u 3′ 2 u 2′ u 1′ 2
−
1 c c  c c c c 1
 c c 1

2
u 3′ u 1′ u 2′ u 3′ 2
− 
c c c c 1
2 2
2 u 1′ u 3′ u 2′ u 1′ u 3′ u 2′ 2 u 3′ u 1′ u 2′ u 2′ 2

1 c c  c c c c 1
− c c c c 1

2 u 3′ u 1′ 
−
1 c c
2 u 1′ u 1′  1 u 2′ u 2′ 2 u 3′ u 3′ 2
  1 
1 c c c c 1 c c 1
2 u 1′ u 2′ u 2′ u 1′  2
−
1 c c c c 1
2 u 1′ u 3′ 2 u 3′ u 1′
 −
1 c c 1 c c

13
 2
u 1′ u 1′ u 2′ u 2′ 2 u 2′ u 2′ 2
  
c c c c 1 c c 1
2
u 1′ u 1′ u 3′ u 3′ 2 u 3′ u 3′ 2
  
c c c c 1 c c 1
2
u 1′ u 2′ u 2′ u 1′ 2
− 
c c c c 1
2
u 1′ u 1′ 2 u 1′ u 3′ u 3′ u 1′ 2
 1 −
c c 1 c c c c 1
2 |u| 2
 1
1 c2
∴
Δ 44  

2 u 1′ u 1′  1 Δ 11   2 u 1′ u 2′ −Δ 12  
Δ
1 c c 1 c c
2
 u 1′ u 3′ Δ 13   −u 1′ −Δ 14 

1 c c
2 u 1′ u 1′  1 u 2′ u 2′ 2 u 3′ u 3′ 2
 −  −  
1 c c c c 1 c c 1

2 u 1′ u 2′ 2′ 1′ 2
 − uc uc − 
1 c c 1

2 u 1′ u 3′ u 3′ u 1′ 2
 
1 c c c c 1
1′
 −u 1′  − − u 2 
c
2
1′
u u 1′ 2′
u u 2′ 2
 − 
c c c c 1
2
u 1′ u 1′ u 3′ u 3′ 2 u 1′ u 1′ 2
 −   
c c c c 1 c c 1
u 2′ u 2′ 2 u 3′ u 3′ 2
 −  − 
c c 1 c c 1
2
u 1′ u 2′ u 2′ u 1′ 2
− − 
c c c c 1
2
u 1′ u 3′ u 3′ u 1′ 2 u 1′ u 1′ − 2 
 
c c c c 1 c c
u 1′ u 1′  u 2′ u 2′ u 3′ u 3′ 2
  −
c c c c c c 1
2
 |u| 2
−   1
1 c2

∴
 ′ Δ 11  j ′ −Δ 12 ′ Δ 13  t ′ −Δ 14
i  i k
Δ Δ Δ Δ
 ′ −Δ 21  j ′ Δ 22 ′ −Δ 23  t ′ Δ 24
j  i k
Δ Δ Δ Δ
 ′ Δ 31  j ′ −Δ 32 ′ Δ 33  t ′ −Δ 34
k  i k
Δ Δ Δ Δ
 ′ −Δ 41  j ′ Δ 42 ′ −Δ 43  t ′ Δ 44
t  i k
Δ Δ Δ Δ
so:
  ′ Δ 11 ′ ′ ′
i  i  j −Δ 12  k Δ 13  t −Δ 14
Δ Δ Δ Δ
′ u 2′ u 2′ 2 u 3′ u 3′ 2
 i −  −  
c c 1 c c 1

′ 2′ 1′ 2
 j − uc uc − 
1

′ u 3′ u 1′ 2 ′ 1′
k t − − u2 
c c 1 c
′ 2 u 1′ u 1′ ′ 2 u 2′ u 1′
 i 1 j 
1 c c 1 c c
′ 2 u 3′ u 1′ ′ 1′
k  t u2 
1 c c c
  ′ −Δ 21 ′ ′ ′
j  i  j Δ 22  k −Δ 23  t Δ 24
Δ Δ Δ Δ
′ 1′ 2′  2
 i − uc uc − 
1

14
 ′ u 1′ u 1′ 2 3′ 3′ 2
j −  uc uc −  
c c 1 1
′ 3′ 2′ 2 ′ 2′
 k − uc uc −  t u2 
1 c
′ 2 1′
u u 2′  ′  2
u 2′ u 2′  1 
 i j
1 c c 1 c c
′ 2 u 3′ u 2′  ′ u 2′
k  t 
1 c c c2
  ′ Δ 31 ′ −Δ 32   ′
k Δ 33  t −Δ 34
′
k i j
Δ Δ Δ Δ
′ u 1′ u 3′ 2 ′ 2′ 3′ 2
 i  j − uc uc − 
c c 1 1
′ u 1′ u 1′ 2 2′ 2′ 2 ′ 3′
k −  uc uc −   t − − u2 
c c 1 1 c
′ 2 u 1′ u 3′ ′ 2 u 2′ u 3′
 i  j 
1 c c 1 c c
′ 2 u 3′ u 3′  1  t ′ u 3′ 
k
1 c c c2
  ′ −Δ 41 ′ ′ ′
t  i  j Δ 42  k −Δ 43  t Δ 44
Δ Δ Δ Δ
′  ′  ′  ′
 i −−u 1′   j u 2′   k −−u 3′   t 
′ ′ ′ ′
 i u 1′   j u 2′   k u 3′   t 

∴
∂x ′  2 u 1′ u 1′  1 ∂x ′  2 u 1′ u 2′ ∂x ′  2 u 1′ u 3′ ∂x ′  u 1′ 
∂x 1 c c ∂y 1 c c ∂z 1 c c ∂t
∂y ′ 2 u 2′ u 1′ ∂y ′ 2 u 2′ u 2′  1 ∂y ′ 2 u 2′ u 3′ ∂y ′
    u 2′ 
∂x 1 c c ∂y 1 c c ∂z 1 c c ∂t
∂z ′  2 u 3′ u 1′ ∂z ′  2 u 3′ u 2′ ∂z ′  2 u 3′ u 3′  1 ∂z ′  u 3′ 
∂x 1 c c ∂y 1 c c ∂z 1 c c ∂t
∂t ′  u 1′  ′
∂t  u 2′ ′
∂t  u 3′ ∂t ′  
∂x c2 ∂y c2 ∂z c2 ∂t
Thus, the complete Lorentz Transformations between reference frames using
Rectangular Cartesian Coordinate Systems, is given by:
2 u k′ u j′   k
x k′  x j  u k′ t
1 c c j

j′
t′   t  u2 xj
c
2 uk uj  k
x k′  x j − u k t
1 c c j

j
t ′   t − u2 x j
c

15