The rolling tangent space, a forgotten vision on parallel transport and geodesics

Abstract

Given a submanifold $M\subset \mathbf{R}^ν$, a curve $γ:I\to M$ and tangent vectors $v$ along $γ$, we roll the tangent space along $γ$. In doing so, we get an imprint/trace of $γ$ on the tangent space, as well as an imprint/trace of the tangent vectors. We show that for a vector field $v$ along $γ$, the imprint/trace of its covariant derivative is the ordinary derivative of its imprint/trace vector field. It then follows easily that $v$ is a set of parallel vectors along $γ$ if and only if their imprint/trace on the (affine) tangent space is constant and that $γ$ is a geodesic if and only if its trace on the tangent space is a straight line.