C ORRECTIONS TO

Introduction to Riemannian Manifolds (Second Edition)

BY J OHN M. L EE
J UNE 21, 2023

(7/31/19) Page ix, near the middle of the page: “Preissmann” is misspelled.

(6/14/23) Page 12, second sentence under the heading Isometries: After “shows that,” insert “when @M D ¿.”

(6/16/21) Page 15, line 3: After “connected if and only if M is connected,” insert “(when dim M > 1).”

(11/17/21) Page 16, line after Example 2.13: Change “next lemma” to “next proposition.”

(7/29/19) Page 20, Exercise 2.23: Change “Exercise 2.21” to “Example 2.21.”

(1/25/21) Page 27, third-to-last displayed equation: In the line below that equation, change ˛kC1 to ˛kCl . [The numeral
1 should be a letter l.] Then in the second and third lines below the equation, change g kl to g pq twice [to avoid
conflict with the notation .k; l/ for the type of F ].
(1/25/21) Page 27, third line from the bottom: Change gkl to gpq .

(11/14/22) Page 29, two lines above equation (2.16): Change T .k;l/ .Tp M / to T .k;l/ TM .

(9/4/22) Page 33, second paragraph under “Lengths and Distances,” next-to-last sentence: Replace that sentence
 without boundary such as the
by “(If @M ¤ ¿, this is still true provided we embed M in a smooth manifold M
double of M [LeeSM, Example 9.32], and consider an extension of as a map into M .)”

(10/19/21) Page 41, lines 4 & 3 from the bottom: Change “inner products of pairs of elements of S ” to “scalar products
of pairs of elements of S ? .”

(1/23/21) Page 56, third line from the bottom: Change “Chapter 1” to “Chapter 2.”

(3/6/21) Page 62, last line: Change “Chapter 1” to “Chapter 2.”

(6/24/22) Page 63, Fig. 3.3: The map  should be going in the opposite direction.

(6/24/22) Page 63, second paragraph: Change  W Bn .R/ ! U n .R/ to  W U n .R/ ! Bn .R/.

(4/12/23) Page 65, third line from the bottom: The formula should read j.;  /j2 D R2 . R/=. C R/ < R2 .

(1/10/21) Page 70, lines 4 & 5: Replace the clause beginning “let  be” with the following: “let  be a right-invariant
density on K (for example, the Riemannian density of some right-invariant metric on K).”

(11/1/19) Page 71, first paragraph, last line: Change Ad.'/X to Ad.'/X0 .

(5/17/20) Page 80, last line: Change z to w (twice).

(1/10/21) Page 81, Problem 3-9: Add the hypothesis that G is connected.

(6/14/19) Page 82, Problem 3-20: Delete the word “isotropic”; it should just say “homogeneous and symmetric.”
.
(5/3/20) Page 82, Problem 3-21: In the third line, change M to M
@ @
(7/8/20) Page 87, last two lines: The second occurrence of @x
in each line should be @y
.

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 (9/4/22) Page 97, second line: After the last sentence of the proof, add the following: “It is then a straightforward
computational exercise to show that the resulting connection satisfies conditions (i)–(iii). To prove (iv), first
observe that every .k; l/-tensor field can be written locally as a sum of tensor fields of the form Z1 ˝


˝
Zk ˝  1 ˝


˝  l , and for such a tensor field the trace on the i th contravariant index and the j th covariant one
satisfies


ci ˝


˝ Zk ˝  1 ˝


˝ bj ˝


˝  l :
tr Z1 ˝


˝ Zk ˝  1 ˝


˝  l D  j .Zi /Z1 ˝


˝ Z

Then (iv) follows by applying (4.12) and (4.13) to this formula.”

(4/22/19) Page 100, first displayed equation: Change the last expression on the right to X.Y u/ .rX Y /u.
(9/4/22) Page 102, proof of Theorem 4.24, second paragraph, last sentence: Replace that sentence by “(If t0 is an
endpoint of I , extend to a slightly bigger open interval, prove the lemma there, and then restrict back to I . If
M has nonempty boundary, we can do this after first embedding M into a smooth manifold M  without boundary
and extending r arbitrarily to a connection on M  .)”

(11/7/19) Page 105, first paragraph under the section heading: Delete the sentence beginning “As we did with geodesics
. . . .”
(5/11/23) Page 105, last paragraph, first line: Change “manifold” to “manifold with or without boundary.”
(7/8/20) Page 106, last line: Change .t / to 0 .t /.
(5/19/23) Page 106, Theorem 4.31: For later use, we also need to generalize this theorem to the case in which I is not
open and t0 is an endpoint of I . Existence and smoothness of the solution are easily proved by extending Akj to
an open interval containing I , so only uniqueness is at issue. To prove uniqueness, suppose for simplicity that
t0 D 0 is the left endpoint of I . (Other cases are easily handled by suitable changes of independent variable.)
If V and Vz are solutions to the same initial-value problem corresponding to different extensions, let W .t / D
V .t / Vz .t /, so that WP k .t / D Akj .t /W j .t / for t 2 Œ0; " and W k .0/ D 0. Choose b > 0 such that jA.t /j  b
for all t 2 Œ0; ". A simple computation shows that .d=dt /je bt W .t /j2  0, so W .t / D 0 for t 2 Œ0; ". Then the
usual uniqueness result with t0 D " shows that V D Vz on all of I .
(5/19/23) Page 107, Theorem 4.32, 4th line: Change .t / to .t0 /.
(7/5/20) Page 109, Corollary 4.33, third and fourth lines: Replace T .t0 / M and T .t/ M by T .a/ M .
(6/27/19) Page 113, Problem 4-11(b): Replace “G is abelian” by “the identity component of G is abelian.”
(1/23/21) Page 119, just above the last display: Change V i ; W j W I ! R to V i ; W j W .t0 "; t0 C "/ ! R.
(8/26/20) Page 132, proof of Proposition 5.23, fourth and fifth lines: Change d'p 1 to .d'p / 1
(twice).
(11/23/20) Page 147, Problem 5-8(c): Change “geodesics of g” to “maximal geodesics of g.”
(2/11/21) Page 155, just below equation (6.1): Change “admissible partition for V ” to “admissible partition for .”
(8/26/20) Page 160, line 4: Change @i jp to @i jp .
(5/29/20) Page 163, second paragraph, third line: Delete the repeated word “metric.”
(8/13/21) Page 164, line 8 from the bottom: Change "=c to c" (twice).
(12/5/21) Page 165, proof of Theorem 6.15: Replace the two sentences beginning “If a; b 2 I0 ” with the following: “If
a; b 2 I0 with a < b, then the definition of uniformly normal neighborhood implies that the image of jŒa;b
is contained in a geodesic ball centered at .a/. Proposition 5.24 shows that every geodesic segment lying in
that ball and starting at .a/ is part of a radial geodesic, and Proposition 6.11 shows that each radial geodesic
segment is minimizing.”

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(11/16/20) Page 173, proof of Proposition 6.25, last line: Change “no longer than” to “no shorter than” (twice).
(1/25/21) Page 175, two lines aboe Theorem 6.31: Change “it it” to “it is.”
(1/25/21) Page 177, line 7 from the bottom: Change B" .p/ to B"p .p/.
(2/27/21) Page 179, second paragraph, first line: Change NS to NP .
(3/3/21) Page 197, Proposition 7.5, fourth line of the proof: Change “Formula (4.15)” to “The product rule for covari-
ant derivatives along curves.” Then two lines below that, change “(4.15)” to “the product rule.”
(10/19/19) Page 199, Proof of Lemma 7.8, second paragraph, last sentence: Replace the phrase “an inductive application
of the theorem concerning smooth dependence of solutions to linear ODEs on initial conditions (Thm. 4.31)”
j
by “an inductive application of Theorem A.42 to vector fields of the form Wk j.x;v/ D @=@x k v i €ki .x/@=@v j
n
on C"  R .”
(6/15/20) Page 201, third line from the bottom: Change “application of Theorem 4.31” to “application of Theorem A.42
as in the proof of Lemma 7.8.”
(11/1/19) Page 214, middle displayed equation: The indices on the left-hand side should be j l (not j k).
(11/1/19) Page 217, last line: Change hdf; df i2g to hdf; df ig .
(11/1/19) Page 218, proof of Theorem 7.30, last displayed equation: In the first line of that display, the indices in the
last two terms are wrong. The first line should read

Rzij kl D e 2f Rij kl .fIil gj k C fIj k gil fIik gj l fIj l gik / : : :

(2/1/19) Page 218, proof of Theorem 7.30, last line: The last formula in the proof should read gzij D e 2f
g ij (swap g
and gz).
(2/9/21) Page 223, Problem 7-6: Replace 1 S2 with 2 S2 in the last displayed equation.
(6/9/19) Page 226, middle of the page: The reference [dC92] should be [O’N83].
(6/21/23) Page 228, third line after the end of the proof: Change Wp D W to Wp D w.
(6/21/23) Page 234, statement of Proposition 8.12: Change the comma before “The” to a period.
z t and Dt to D
(4/22/19) Page 234, proof of Proposition 8.12, third-to-last line: Change D z t 0 and Dt 0 , respectively.

(1/23/21) Page 245, statement of Proposition 8.21(a): Change .t0/ to .t0 / [fixing the misplaced parenthesis].
(1/31/20) Page 257, Problem 8-11: Change “a smooth surface” to “an embedded smooth surface.”
(8/7/20) Page 262, Problem 8-33(a): Change the problem statement to read as follows:
(a) Show that there is a unique fiber metric on ƒ2 .TM / that satisfies

hw ^ x; y ^ zi D hw; yihx; zi hw; zihx; yi

for all tangent vectors w; x; y; z at every point q 2 M .

(8/29/21) Page 282, Problem 9-9(b), third line: Change 2 .2/ to 2 .t /.
(3/15/21) Page 288, statement of Corollary 10.8: At the beginning of the last sentence, insert the phrase “Provided g is
Riemannian or j 0 .t /jg ¤ 0 for some t 2 I .”
(2/1/19) Page 304, statement of Theorem 10.28: At the end of the statement, after “I.V; V / > 0,” insert “unless V  0.”

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 (7/8/20) Page 305, line below equation (10.25): Change M to R.

(2/1/19) Page 307, statement of Corollary 10.29(c): At the end of the statement, after “for all sufficiently small nonzero
s,” insert “unless the variation field of is identically zero.”

(7/5/21) Page 311, proof of Theorem 10.34, first paragraph: Replace expp .tcut .p; v// by expp .tcut .p; v/v/ in the
next-to-last line of the paragraph.

(12/12/20) Page 311, statement of Corollary 10.35: Add the hypothesis that the manifold is nonempty.

(6/15/20) Page 315, last displayed equation: Replace that equation by the following:

J.a/ 2 T .a/ P and Dt J.a/ C W 0 .a/ .J.a// ? T .a/ P:

(12/5/20) Page 317, Problem 10-23: At the end of the first sentence, add the hypothesis “and q 2 Cut.p/.”
(12/11/20) Page 317, Problem 10-23(b): Change “closed geodesic” to “unit-speed closed geodesic.”

(5/31/22) Page 326, second paragraph, 4th line from the end of the paragraph: Change “f .a; x/ D 0” to “f .a; x/ 
0.”

(7/31/19) Page 345, third paragraph: “Preissmann” is misspelled.

(10/27/19) Page 350, near the middle of the page, in the statements of the Bieberbach theorems: Change “Euclidean
space form(s)” to “compact Euclidean space form(s)” (twice).

(9/19/21) Page 354, Corollary 12.14: Change the statement of the corollary to “If M is a connected smooth manifold that
admits a complete metric of nonpositive sectional curvature, then M is aspherical.” Then in the first sentence
of the proof, change “a nonpositively curved metric” to “a complete nonpositively curved metric.”
(7/31/19) Page 357, subheading and first three paragraphs: “Preissmann” is misspelled (four times).

(3/15/21) Page 357, statement of Lemma 12.21: Replace “every covering automorphism” by “every nontrivial covering
automorphism.”

(7/31/19) Page 360, near the top and near the bottom: “Preissmann” is misspelled (twice).

(9/4/22) Page 374, paragraph above Prop. A.10, first line: Change “every coordinate chart” to “every coordinate chart
.U; '/.”

(9/4/22) Page 383, third paragraph, last sentence: Change “component functions of  ” to “component functions of
.”

(1/3/22) Page 397, three lines above equation (B.8): Change T .k;l/ .T  M / to T .k;l/ TM .

(3/12/18) Page 415, reference [BBBMP]: “Zürich” is misspelled.

(3/12/18) Page 415, reference [Cha06]: The phrase “A modern introduction” should be part of the title: Riemannian
Geometry: A Modern Introduction.

(7/31/19) Page 418, reference [Pre43]: “Preissmann” is misspelled.

(7/31/19) Page 433: “Preissmann” is misspelled (twice).