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In mathematics, specifically differential geometry, the infinitesimal geometry of Riemannian manifolds with dimension at least 3 is too complicated to be described by a single number at a given point. Riemann introduced an abstract and rigorous way to define it, now known as the curvature tensor. Similar notions have found applications everywhere in differential geometry. For a more elementary discussion see the article on curvature which discusses the curvature of curves and surfaces in 2 and 3 dimensions. The curvature of a pseudo-Riemannian manifold can be expressed in the same way with only slight modifications.