Let M be a smooth manifold and let π:T∗M→M be its cotangent bundle.
Definition. A differential k-form on M is a smooth section of the vector bundle ΛkT∗M→M. Concretely, it is a rule that assigns to each p∈M an alternating k-linear map
ωp:(TpM)k→R,
depending smoothly on p (here TpM is the tangent space).
The set of all smooth k-forms is denoted Ωk(M). For k=0, one has Ω0(M)=C∞(M). For k=1, a 1-form is the same thing as a smooth covector field (a smooth section of T∗M), and its behavior under smooth maps is governed by the pullback of covectors (more generally by the pullback of differential forms).
Local expression. In a smooth chart (U,x1,…,xn), every k-form can be written uniquely as
ω=1≤i1<⋯<ik≤n∑ai1⋯ikdxi1∧⋯∧dxikon U,
with smooth coefficient functions ai1⋯ik∈C∞(U), using the wedge product.
Two fundamental operations on forms are the wedge product ∧ and the exterior derivative d:Ωk(M)→Ωk+1(M), which leads to the notions of closed forms, exact forms, and de Rham cohomology.
Examples
- A 0-form and its differential. Any smooth function f∈C∞(M) is a 0-form. Its exterior derivative df is a 1-form characterized by dfp(v)=v(f) for v∈TpM.
- A 1-form on R2. On R2 with coordinates (x,y), the expression
ω=xdy−ydx defines a smooth 1-form. At each point (x,y), it is a covector that eats a tangent vector (u,v) and returns xv−yu.
- Standard volume form on Rn. On Rn with coordinates x1,…,xn, the n-form
dx1∧⋯∧dxn is a nowhere-vanishing differential form (a smooth choice of oriented volume density).