210 <strong>Index</strong> Lorentz, 113 matrix, vii, 3 multiplicative notation, 24 nonabelian, 27 nonmatrix, 72, 202 <strong>of</strong> generalized rotations, 22 <strong>of</strong> linear transformations, 3 <strong>of</strong> rotations <strong>of</strong> R 3 ,16 <strong>of</strong> unit quaternions, 10 orthogonal, 48, 51 path-connected, 52, 56, 118 polyhedral, 34 quotient, 23, 28 simple, 31 simply connected, 201 special linear, 93, 108, 116 special orthogonal, 3, 48, 51 special unitary, 32, 48 sporadic, 203 symplectic, 48, 57 theory, 23 unitary, 48, 55 Hadamard, Jacques, 100 Hall, Brian, 149 Halmos, Paul, ix Hamilton, Sir William Rowan, 10 and quaternion exponential, 91, 159 definition <strong>of</strong> C,20 Hausdorff, Felix, 153 Hermite, Charles, 55 Hilbert, David, 159 fifth problem, 159 homeomorphism, 107, 168 local, 179 preserves closure, 168 homomorphism det, 31, 107 induced, 121, 191 <strong>Lie</strong>, 191 <strong>of</strong> groups, 23, 28 <strong>of</strong> <strong>Lie</strong> algebras, 120, 186, 191 <strong>of</strong> <strong>Lie</strong> groups, 183, 186, 191 <strong>of</strong> S 3 × S 3 onto SO(4), 42 <strong>of</strong> S 3 onto SO(3),23 <strong>of</strong> simply connected groups, 201 onto quotient group, 28 theorem for groups, 30, 107 trace, 193 homotopy see deformation 177 Hopf fibration, 26 hyperplane, 36 ideal, 116 as image <strong>of</strong> normal subgroup, 117, 118 as kernel, 120 definition, 117 in gl(n,C), 122 in ring theory, 117 in so(4), 123 in u(n), 124 origin <strong>of</strong> word, 117 identity complex two-square, 11 eight-square, 22 four-square, 11 Jacobi, 13 two-square, 6 identity component, 54, 174 is a subgroup, 54 is normal subgroup, 175 <strong>of</strong> O(3), 189 infinitesimal elements, 45, 113 inner product, 83 and angle, 49 and distance, 49, 54 and orthogonality, 49 Hermitian, 55 preservation criterion, 55 on C n ,54 on H n ,57 on R 3 ,13 on R n ,48 definition, 49 intermediate value theorem, 46 inverse function theorem, viii
<strong>Index</strong> 211 inverse matrix, 6 invisibility, 72, 114, 150 isometry, 7 and the multiplicative property, 11 as product <strong>of</strong> reflections, 18, 36 is linear, 37 <strong>of</strong> R 4 ,12 <strong>of</strong> the plane, 12 orientation-preserving, 36, 38, 48 orientation-reversing, 38 isomorphism local, 183 <strong>of</strong> groups, 23, 29 <strong>of</strong> simply connected <strong>Lie</strong> groups, 186 <strong>of</strong> sp(1) × sp(1) onto so(4), 123 Jacobi identity, 13 holds for cross product, 13 holds for <strong>Lie</strong> bracket, 83 Jacobson, Nathan, 113 Jordan, Camille, 91 kernel <strong>of</strong> covering map, 201 <strong>of</strong> group homomorphism, 29 <strong>of</strong> <strong>Lie</strong> algebra homomorphism, 120 Killing form, viii, 83 Killing, Wilhelm, 115, 137, 202 Kummer, Eduard, 117 Lagrange, Joseph Louis, 11 length, 49 <strong>Lie</strong> algebras, vii, 13 are topologically trivial, 201 as “infinitesimal groups”, 46 as tangent spaces, 74, 104, 114 as vector spaces over C, 108 as vector spaces over R, 107 definition, 82 exceptional, viii, 46, 115, 137 matrix, 105 named by Weyl, 113 non-simple, 122 <strong>of</strong> classical groups, 113, 118 quaternion, 111 semisimple, 138 simple, 46, 114 definition, 116, 118 <strong>Lie</strong> bracket, 74, 80 and commutator, 105 determines group operation, 152 <strong>of</strong> pure imaginary quaternions, 80 <strong>of</strong> skew-symmetric matrices, 98 on the tangent space, 104 reflects conjugation, 74, 81, 98 reflects noncommutative content, 80 <strong>Lie</strong> groups, vii, 1 abelian, 41 almost simple, 115 as smooth manifolds, 114 classical, 80, 93, 113 compact, 88, 92, 159, 160 definition <strong>of</strong>, 3 exceptional, viii, 22, 45, 46 matrix see matrix <strong>Lie</strong> groups 81 noncommutative, 1 noncompact, 88, 92, 110 nonmatrix, 72, 113, 202 <strong>of</strong> rotations, 22 path-connected, 160, 175 simple, 48, 115 classification <strong>of</strong>, 202 simply connected, 160, 186 two-dimensional, 88, 188 <strong>Lie</strong> homomorphisms, 191 <strong>Lie</strong> polynomial, 154 <strong>Lie</strong> theory, vii and quaternions, 22 and topology, 73, 115 <strong>Lie</strong>, Sophus, 45, 80 and exponential map, 91 concept <strong>of</strong> simplicity, 115 knew classical <strong>Lie</strong> algebras, 113, 137
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Undergraduate Texts in Mathematics
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John Stillwell Naive Lie Theory 123
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To Paul Halmos In Memoriam
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viii Preface Where my book diverges
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Contents 1 Geometry of complex numb
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Contents xiii 8 Topology 160 8.1 Op
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2 1 The geometry of complex numbers
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4 1 The geometry of complex numbers
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6 1 The geometry of complex numbers
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8 1 The geometry of complex numbers
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10 1 The geometry of complex number
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12 1 The geometry of complex number
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14 1 The geometry of complex number
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16 1 The geometry of complex number
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18 1 The geometry of complex number
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20 1 The geometry of complex number
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22 1 The geometry of complex number
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24 2 Groups 2.1 Crash course on gro
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26 2 Groups This algebraic argument
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28 2 Groups is the right coset of H
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30 2 Groups and h ∈ ker ϕ ⇒ ϕ
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32 2 Groups show that the real proj
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34 2 Groups R Q α/2 θ/2 α/2 P Fi
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36 2 Groups 1/2 turn 1/3 turn Figur
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38 2 Groups 2.4.4 Show that reflect
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40 2 Groups 2.5.1 Check that q ↦
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42 2 Groups Exercises If we let x 1
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44 2 Groups SO(4) is not simple. Th
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46 2 Groups include “infinitesima
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3 Generalized rotation groups PREVI
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50 3 Generalized rotation groups Th
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52 3 Generalized rotation groups An
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54 3 Generalized rotation groups th
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56 3 Generalized rotation groups Pa
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58 3 Generalized rotation groups Ho
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60 3 Generalized rotation groups On
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62 3 Generalized rotation groups Ex
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64 3 Generalized rotation groups In
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66 3 Generalized rotation groups Th
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68 3 Generalized rotation groups Ca
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70 3 Generalized rotation groups Pr
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72 3 Generalized rotation groups Ma
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4 The exponential map PREVIEW The g
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76 4 The exponential map course, th
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78 4 The exponential map imaginary
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80 4 The exponential map This const
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82 4 The exponential map 4.4 The Li
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84 4 The exponential map 4.5 The ex
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86 4 The exponential map Definition
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88 4 The exponential map obtained b
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90 4 The exponential map Then subst
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92 4 The exponential map It was dis
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94 5 The tangent space 5.1 Tangent
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96 5 The tangent space The matrices
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98 5 The tangent space as in ordina
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100 5 The tangent space Conversely,
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102 5 The tangent space Exercises A
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104 5 The tangent space To see why
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106 5 The tangent space 5.5 Dimensi
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108 5 The tangent space but not nec
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110 5 The tangent space Conversely,
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112 5 The tangent space However, th
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114 5 The tangent space the set of
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6 Structure of Lie algebras PREVIEW
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118 6 Structure of Lie algebras isa
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120 6 Structure of Lie algebras An
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122 6 Structure of Lie algebras 6.3
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124 6 Structure of Lie algebras We
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126 6 Structure of Lie algebras whi
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128 6 Structure of Lie algebras Our
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130 6 Structure of Lie algebras [X,
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132 6 Structure of Lie algebras l
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134 6 Structure of Lie algebras and
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136 6 Structure of Lie algebras If
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138 6 Structure of Lie algebras of
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140 7 The matrix logarithm 7.1 Loga
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142 7 The matrix logarithm 7.1.1 Su
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144 7 The matrix logarithm Taking e
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146 7 The matrix logarithm If A(t)
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148 7 The matrix logarithm The log
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150 7 The matrix logarithm 7.4.1 Sh
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152 7 The matrix logarithm By the t
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154 7 The matrix logarithm The idea
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156 7 The matrix logarithm Next, re
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158 7 The matrix logarithm Exercise
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