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We establish a classical analog of the Nambu-Goldstone theorem for spontaneous breaking of spacetime symmetries. It provides a counting rule for independent Nambu-Goldstone fields and states which of them are gapped. We demonstrate that only those symmetry group generators give rise to independent Nambu-Goldstone fields that act nontrivially on a vacuum at the origin of coordinates. Other generators give rise to auxiliary fields that must be excluded from a theory by the means of inverse Higgs constraints. The physical meaning of the inverse Higgs phenomenon and an application of our results to theories of massive gravity are discussed.
François Gallaire, Alessandro Bongarzone, Alice Evelyne Julienne Marcotte