Structure
Formally, Minkowski space is a four-dimensional real vector space equipped with a nondegenerate, symmetric bilinear form with signature (−,+,+,+) (Some may also prefer the alternative signature (+,−,−,−); in general, mathematicians and general relativists prefer the former while particle physicists tend to use the latter.) In other words, Minkowski space is a pseudo-Euclidean space with n = 4 and n − k = 1 (in a broader definition any n > 1 is allowed). Elements of Minkowski space are called events or four-vectors. Minkowski space is often denoted R1,3 to emphasize the signature, although it is also denoted M4 or simply M. It is perhaps the simplest example of a pseudo-Riemannian manifold.
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—George Herbert (1593–1633)
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