Covariant Generalisation of Codazzi-Raychaudhuri and Area Change Equations for Relativistic Branes

In this paper we derive the generalisations of Gauss-Codazzi, Raychaudhuri and area change equations for classical relativistic branes and multidimensional fluids in arbitrary background manifolds with metricity and torsion. The kinematical description we develop is fully covariant and based on the use of projection tensors tilted with respect to the brane worldsheets.