We give a derivation of general relativity (GR) and the gauge principle that is novel in presupposing neither spacetime nor the relativity principle. We consider a class of actions defined on superspace (the space of Riemannian 3-geometries on a given bare manifold). It has two key properties. The first is symmetry under 3-diffeomorphisms. This is the only postulated symmetry, and it leads to a constraint linear in the canonical momenta. The second property is that the Lagrangian is constructed from a 'local' square root of an expression quadratic in the velocities. The square root is 'local' because it is taken before integration over 3-space. It gives rise to quadratic constraints that do not correspond to any symmetry and are not, in general, propagated by the Euler-Lagrange equations. Therefore these actions are internally inconsistent. However, one action of this form is well behaved: the Baierlein-Sharp-Wheeler (BSW [1]) reparametrisation-invariant action for GR. From this viewpoint, spacetime symmetry is emergent. It appears as a 'hidden' symmetry in the (underdetermined) solutions of the Euler-Lagrange equations, without being manifestly coded into the action itself. In addition, propagation of the linear diffeomorphism constraint together with the quadratic square-root constraint acts as a striking selection mechanism beyond pure gravity. If a scalar field is included in the configuration space, it must have the same characteristic speed as gravity. Thus Einstein causality emerges. Finally, self-consistency requires that any 3-vector field must satisfy Einstein causality, the equivalence principle and, in addition, the Gauss constraint. Therefore we recover the standard (massless) Maxwell equations.

The issue of time is addressed. It is argued that time as such does not exist but that instants, defined as complete relative configurations of the universe, do. It is shown how the classical mechanics (both non-relativistic and generally relativistic) of a complete universe can be expressed solely in terms of such relative configurations. Time is therefore a redundant concept, as are external inertial frames of reference (so that Machian ideas about the relativity of motion are fully implemented). Although time plays no role in kinematics, it can be recovered as an effective concept associated with any classical history of the universe. In the case of classical mechanics, this operationally defined time is identical to the astronomers' ephemeris time. In the case of general relativity it is shown how local proper time is a kind of local ephemeris time. It is argued that because general relativity is timeless in a deep and precise sense, the standard representation of the theory as a theory of curved spacetime disguises important aspects of its structure and that just these aspects may be the most important for the quantum form of the theory. This issue and the effective recovery of time from a genuinely timeless quantum theory are addressed in a following companion paper.

A new and universal method for implementing scale invariance, called best matching, is presented. It extends to scaling the method introduced by Bertotti and the author to create a fully relational dynamics that satisfies Mach's principle. The method is illustrated here in the context of non-relativistic gravitational particle dynamics. It leads to far stronger predictions than general Newtonian dynamics. The energy and angular momentum of an 'island universe' must be exactly zero and its size, measured by its moment of inertia, cannot change. This constancy is enforced because the scale invariance requires all potentials to be homogeneous of degree -2. It is remarkable that one can nevertheless exactly recover the standard observed Newtonian laws and forces, which are merely accompanied by an extremely weak universal force like the one due to Einstein's cosmological constant. In contrast to Newtonian and Einsteinian dynamics, both the gravitational constant G and the strength of the cosmological force are uniquely determined by the matter distribution of the universe. Estimates of their values in agreement with observations are obtained. Best matching implements a dynamics of pure shape for which the action is a dimensionless number. If the universe obeys such scale-invariant law, steadily increasing inhomogeneity, not expansion of the universe, causes the Hubble red shift. The application of best matching to geometrodynamics is treated in a companion paper.

A structure of dynamical theories is proposed that implements Mach’s ideas by being relational in its treatment of both motion and time. The resulting general dynamics, which is called intrinsic dynamics and by construction treats the evolution of the entire Universe, is shown to admit as special cases Newtonian dynamics and Lorentz-invariant field theory provided the angular momentum of the Universe is zero in the frame in which its momentum is zero. The formal structure of Einstein’s general theory of relativity also fits the pattern of intrinsic dynamics and is Machian according to the criteria of this paper provided the so-called thin-sandwich conjecture is generically correct.

A strategy for quantization of general relativity is considered in the context of the `timelessness' of classical general relativity discussed in the preceding companion paper. The Wheeler--DeWitt equation (WDE) of canonical quantum gravity is interpreted as being like a time-independent Schrödinger equation for one fixed energy, the solution of which simply gives, once and for all, relative probabilities for each possible static relative configuration of the complete universe. Each such configuration is identified with a possible instant of experienced time. These instants are not embedded in any kind of external or internal time and, if experienced, exist in their own right. The central question is then: Whence comes the appearance of the passage of time, dynamics, and history? The answer proposed here is that these must all be `coded', in the form of what appear to be mutually consistent `records', in the individual static configurations of the universe that are actually experienced. Such configurations are called time capsules and suggest a new, many-instants, interpretation of quantum mechanics. Mott's explanation of why -particles make straight tracks in Wilson cloud chambers shows that the time-independent Schrödinger equation can concentrate its solution on time capsules. This demonstrates how the appearance of dynamics and history can arise in a static situation. If it can be shown that solutions of the Wheeler--DeWitt equation are spontaneously and generically concentrated on time capsules, this opens up the possibility of an explanation of time at a very deep level: the timeless wavefunction of the universe concentrates the quantum mechanical probability on static configurations that are time capsules, so that the situations which have the highest probability of being experienced carry within them the appearance of time and history. It is suggested that the inescapable asymmetry of the configuration space of the universe could play an important role in bringing about such concentration on time capsules and be the ultimate origin of the arrow of time.