 Solution

For a differentiable curve $Q(t)\in SO(5)$ with $Q(0)=I_5$, differentiate $Q(t{)}^{T}Q(t)=I_5$. Its tangent matrix $X=Q^{\prime }(0)$ is real and satisfies $X^T+X=0$. Conversely the matrix exponential of any real antisymmetric matrix is orthogonal, and $\det e^{tX}=e^{t\mathrm{tr}X}=1$ because $\mathrm{tr}X=0$. Hence the real Special orthogonal Lie algebra isLet $E_{ab}$ denote a matrix unit. A simple real basis isEach independent entry above the diagonal supplies one real parameter, giving $\left(\genfrac{}{}{0ex}{}{5}{2}\right)=10$ parameters. The commutator of two basis matrices iswhere $M_{ba}=-M_{ab}$ and $M_{aa}=0$.

A Cartan subalgebra is spanned by the commuting matrices $M_{12},M_{34}$, which generate independent rotations in two orthogonal planes. A generic $h=a{M}_{12}+b{M}_{34}$, with $ab(a^2-b^2)\ne 0$, has distinct complex eigenvalues $ia,-ia,ib,-ib,0$. A real antisymmetric matrix commuting with it preserves those two planes and the remaining line; it is a multiple of the rotation in each plane and is zero on the line. Thus the commuting Lie subalgebra has dimension two and is maximal toral. Therefore