General relativityGeneral relativity, also known as the general theory of relativity and Einstein's theory of gravity, is the geometric theory of gravitation published by Albert Einstein in 1915 and is the current description of gravitation in modern physics. General relativity generalizes special relativity and refines Newton's law of universal gravitation, providing a unified description of gravity as a geometric property of space and time or four-dimensional spacetime.
Gravitational fieldIn physics, a gravitational field is a model used to explain the influences that a massive body extends into the space around itself, producing a force on another massive body. Thus, a gravitational field is used to explain gravitational phenomena, and is measured in newtons per kilogram (N/kg). Equivalently, it is measured in meters per second squared (m/s2). In its original concept, gravity was a force between point masses.
Gravitational redshiftIn physics and general relativity, gravitational redshift (known as Einstein shift in older literature) is the phenomenon that electromagnetic waves or photons travelling out of a gravitational well (seem to) lose energy. This loss of energy corresponds to a decrease in the wave frequency and increase in the wavelength, known more generally as a redshift. The opposite effect, in which photons (seem to) gain energy when travelling into a gravitational well, is known as a gravitational blueshift (a type of blueshift).
Gravitational waveGravitational waves are waves of the intensity of gravity that are generated by the accelerated masses of an orbital binary system, and propagate as waves outward from their source at the speed of light. They were first proposed by Oliver Heaviside in 1893 and then later by Henri Poincaré in 1905 as waves similar to electromagnetic waves but the gravitational equivalent. Gravitational waves were later predicted in 1916 by Albert Einstein on the basis of his general theory of relativity as ripples in spacetime.
Gravitational potentialIn classical mechanics, the gravitational potential at a point in space is equal to the work (energy transferred) per unit mass that would be needed to move an object to that point from a fixed reference point. It is analogous to the electric potential with mass playing the role of charge. The reference point, where the potential is zero, is by convention infinitely far away from any mass, resulting in a negative potential at any finite distance.
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Gravitational energyGravitational energy or gravitational potential energy is the potential energy a massive object has in relation to another massive object due to gravity. It is the potential energy associated with the gravitational field, which is released (converted into kinetic energy) when the objects fall towards each other. Gravitational potential energy increases when two objects are brought further apart. For two pairwise interacting point particles, the gravitational potential energy is given by where and are the masses of the two particles, is the distance between them, and is the gravitational constant.
Gravitational-wave observatoryA gravitational-wave detector (used in a gravitational-wave observatory) is any device designed to measure tiny distortions of spacetime called gravitational waves. Since the 1960s, various kinds of gravitational-wave detectors have been built and constantly improved. The present-day generation of laser interferometers has reached the necessary sensitivity to detect gravitational waves from astronomical sources, thus forming the primary tool of gravitational-wave astronomy.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Gravitational-wave astronomyGravitational-wave astronomy is an emerging field of science, concerning the observations of gravitational waves (minute distortions of spacetime predicted by Albert Einstein's theory of general relativity) to collect relatively unique data and make inferences about objects such as neutron stars and black holes, events such as supernovae, and processes including those of the early universe shortly after the Big Bang.
Tests of general relativityTests of general relativity serve to establish observational evidence for the theory of general relativity. The first three tests, proposed by Albert Einstein in 1915, concerned the "anomalous" precession of the perihelion of Mercury, the bending of light in gravitational fields, and the gravitational redshift. The precession of Mercury was already known; experiments showing light bending in accordance with the predictions of general relativity were performed in 1919, with increasingly precise measurements made in subsequent tests; and scientists claimed to have measured the gravitational redshift in 1925, although measurements sensitive enough to actually confirm the theory were not made until 1954.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Gravitational constantThe gravitational constant (also known as the universal gravitational constant, the Newtonian constant of gravitation, or the Cavendish gravitational constant), denoted by the capital letter G, is an empirical physical constant involved in the calculation of gravitational effects in Sir Isaac Newton's law of universal gravitation and in Albert Einstein's theory of general relativity. In Newton's law, it is the proportionality constant connecting the gravitational force between two bodies with the product of their masses and the inverse square of their distance.
History of general relativityGeneral relativity is a theory of gravitation that was developed by Albert Einstein between 1907 and 1915, with contributions by many others after 1915. According to general relativity, the observed gravitational attraction between masses results from the warping of space and time by those masses. Before the advent of general relativity, Newton's law of universal gravitation had been accepted for more than two hundred years as a valid description of the gravitational force between masses, even though Newton himself did not regard the theory as the final word on the nature of gravity.
Kinematic pairIn classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines. Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion.
Theory of relativityThe theory of relativity usually encompasses two interrelated physics theories by Albert Einstein: special relativity and general relativity, proposed and published in 1905 and 1915, respectively. Special relativity applies to all physical phenomena in the absence of gravity. General relativity explains the law of gravitation and its relation to the forces of nature. It applies to the cosmological and astrophysical realm, including astronomy.
Principle of relativityIn physics, the principle of relativity is the requirement that the equations describing the laws of physics have the same form in all admissible frames of reference. For example, in the framework of special relativity the Maxwell equations have the same form in all inertial frames of reference. In the framework of general relativity the Maxwell equations or the Einstein field equations have the same form in arbitrary frames of reference.
Alternatives to general relativityAlternatives to general relativity are physical theories that attempt to describe the phenomenon of gravitation in competition with Einstein's theory of general relativity. There have been many different attempts at constructing an ideal theory of gravity. These attempts can be split into four broad categories based on their scope. In this article, straightforward alternatives to general relativity are discussed, which do not involve quantum mechanics or force unification.
