This introductory section has focused on the spacetime of special relativity, since it is the easiest to describe. Minkowski spacetime is flat, takes no account of gravity, is uniform throughout, and serves as nothing more than a static background for the events that take place in it. The presence of gravity greatly complicates the description of spacetime. In general relativity, spacetime is no longer a static background, but actively interacts with the physical systems that it contains. Spacetime curves in the presence of matter, can propagate waves, bends light, and exhibits a host of other phenomena. A few of these phenomena are described in the later sections of this article. Basic mathematics of spacetime Galilean transformations A basic goal is to be able to compare measurements made by observers in relative motion. If there is an observer O in frame S who has measured the time and space coordinates of an event, assigning this event three Cartesian coordinates and the time as measured on his lattice of synchronized clocks (see Fig. 1-1). A second observer O′ in a different frame S′ measures the same event in her coordinate system and her lattice of synchronized clocks . With inertial frames, neither observer is under acceleration, and a simple set of equations allows us to relate coordinates to . Given that the two coordinate systems are in standard configuration, meaning that they are aligned with parallel coordinates and that when , the coordinate transformation is as follows: Fig. 3-1 illustrates that in Newton's theory, time is universal, not the velocity of light. Consider the following thought experiment: The red arrow illustrates a train that is moving at 0.4 c with respect to the platform. Within the train, a passenger shoots a bullet with a speed of 0.4 c in the frame of the train. The blue arrow illustrates that a person standing on the train tracks measures the bullet as traveling at 0.8 c. This is in accordance with our naive expectations. More generally, assuming that frame S′ is moving at velocity v with respect to frame S, then within frame S′, observer O′ measures an object moving with velocity . Velocity u with respect to frame S, since , , and , can be written as = = . This leads to and ultimately or which is the common-sense Galilean law for the addition of velocities. Relativistic composition of velocities The