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A group action is free if the only element of the group fixing any point is the identity element. Thus every stabilizer subgroup is trivial. This is a property of an action of any group, not an assertion that the acting group is a free group.

Explicitly, for a left group action of a group $G$ on a set $X$ with identity element $e$, freeness meansEquivalently, for any $x,y\in X$ there is at most one $g\in G$ with $g\cdot x=y$. Indeed, if $g\cdot x=h\cdot x$, the group action rules give $(h^{-1}g)\cdot x=x$, so freeness forces $g=h$; conversely, take $y=x$, since the identity element already sends $x$ to itself. Thus every orbit map $g\mapsto g\cdot x$ is injective, even when its image of a function is only part of $X$.

For a permutation example, let the cyclic group $C_2=\{e,a\}$ act on the set $X=\{1,2,3,4\}$ by $a=(12)(34)$. The nonidentity element exchanges both pairs and fixes no point, so every stabilizer subgroup is $\{e\}$. Its two group orbits are $\{1,2\}$ and $\{3,4\}$. This is a free group action but not a transitive group action: there is no group element sending $1$ to $3$. Each restriction to one group orbit is a simply transitive group action.

The identity element fixes every point in every group action; freeness excludes fixed points only for nonidentity elements. This also differs from a fixed point of a group action, which must be fixed by every group element. In the left diagram there are no such fixed points of a group action. In the right diagram, the same abstract cyclic group $C_2$ acts by $e\cdot x=a\cdot x=x$: all four points are fixed points of a group action, every stabilizer subgroup is $C_2$, and each group orbit is a singleton set. Consequently this second group action is neither free nor transitive. A group action with no fixed points of a group action can still fail freeness: the natural group action of the symmetric group $S_3$ has no point fixed by all of $S_3$, but $(23)$ fixes $1$.

For a finite group, the orbit-stabilizer theorem makes each group orbit of a free group action have cardinality $|G|$. If $X$ is also finite, $|X|$ is therefore a multiple of the group order, with one copy of $|G|$ for each group orbit. The trivial group acts freely on every set, and acts transitively exactly on a singleton set. On the empty set freeness is vacuous; our convention under transitive group action requires a nonempty set for transitivity.

The free monoid ${\Sigma }^{\ast }$ on an alphabet $\Sigma$ consists of all finite words over an alphabet, including the empty word $\epsilon$, with concatenation as its binary operation. Distinct strings represent distinct elements: there are no imposed equalities between different sequences of letters. The empty word is its identity element, and concatenation has the associative property.^[ref]

For $\Sigma =\{a,b\}$, the elements begin $\epsilon ,a,b,aa,ab,ba,bb,\dots$. Both $(ab)a$ and $a(ba)$ give the same word $aba$, but $ab\ne ba$, so this monoid is not commutative. The length of a word over an alphabet obeys $\ell (uv)=\ell (u)+\ell (v)$; it is a monoid homomorphism to the nonnegative integers with addition. A nonempty word has no inverse element, since joining it to any other word cannot decrease its length to zero.

The defining benefit of being free is that letters can stand for arbitrary elements of another monoid. Choose a value $h(a)$ for each letter $a\in \Sigma$; then $h(a_1\cdots a_n)=h(a_1)\ast \cdots \ast h(a_n)$, with $h(\epsilon )=e$, is the unique monoid homomorphism extending those choices. Associativity and the identity element make this evaluation consistent for every finite word. For example, interpreting the letters as self-maps evaluates a word as a composed transformation; interpreting them as nonnegative counts evaluates it by addition.

A group packages reversible operations together with a rule for composing them. For example, the rotations and reflections that carry a square onto itself form a group: performing two allowed motions gives another allowed motion, doing nothing is allowed, and every motion can be undone. The elements are the motions themselves, rather than the vertices they move. Labels in the figure track those vertices; they are markers, rather than extra decorations that the motions must preserve.

Precisely, a group is a set $G$ equipped with a binary operation $G\times G\to G$, written $(a,b)\mapsto ab$, satisfying the group axioms:

The group operation need not be ordinary numerical multiplication. With addition as the operation, the identity element is usually written $0$ and the inverse element of $a$ is written $-a$. The definition requires a nonempty set, since the identity element must exist. See McKernan's MIT lecture 1, Definition 1.1 for the axioms.

Why insist on associativity? It makes a string of operations unambiguous without specifying parentheses. For function composition, both $(fg)h$ and $f(gh)$ send $x$ to $f(g(h(x)))$. This fixes the order of execution while allowing regrouping. Associativity therefore does not mean commutativity: exchanging two operations is a different question. Ordinary subtraction fails associativity, since $(5-3)-1=1$ whereas $5-(3-1)=3$; it cannot serve as a group operation on the integers.

An inverse element makes reversal exact and equations solvable. In any group, $ax=b$ has the unique solution $x=a^{-1}b$, since $a^{-1}(ax)=(a^{-1}a)x=x$. Similarly, $xa=b$ has solution $x=b{a}^{-1}$. The side matters in a non-abelian group. Undoing a composite operation requires reversing its order:The analogous product in the other order also equals the identity element. These calculations explain why group equations allow cancellation without assuming commutativity.

For the square with vertices $(\pm 1,\pm 1)$, choose the rotation and reflectionThroughout this example, multiplication is function composition with the rightmost operation performed first: $(gh)(v)=g(h(v))$. Our notation $D_4$ means the dihedral group of the square, with eight elements; the alternative convention calls the same group $D_8$. Its elements areHere $r^{-1}=r^3$ is clockwise rotation through $90^{\circ }$, while each reflection is its own inverse element. There are exactly eight motions: the image of one vertex has four choices, and the image of an adjacent vertex has two choices; together these determine the motion. The four rotations and four reflections displayed above realize every choice. The vertex permutations give a concrete group action. The general polygon construction is discussed in Group Theory (v4.01) by James S. Milne (section 1.17).

Computing the two products rather than merely comparing their names givesThus $(rs)(1,1)=(-1,-1)$ but $(sr)(1,1)=(1,1)$, proving $rs\ne sr$. In fact $rs$ is reflection in the line $y=-x$, whereas $sr$ is reflection in $y=x$. This group is a non-abelian group, although its subgroup of rotations is an abelian group. The relation $srs=r^{-1}$ expresses a geometric fact: conjugation of a counterclockwise rotation by a reflection turns it clockwise.

A contrasting example is the cyclic group $\mathbb{Z}/4\mathbb{Z}$ under addition in modular arithmetic. Using representatives $0,1,2,3$, the sum $3+2$ is $1$ modulo $4$, and the inverse element of $3$ is $1$. Repeated addition of $1$ runs through $0,1,2,3,0$. The correspondence $k\mapsto r^k$ identifies this cyclic group with the rotation subgroup of $D_4$: $r^3{r}^2=r^5=r$. This is a group isomorphism, so the same rule of composition appears as arithmetic wraparound and geometric motion.

By comparison, $(\mathbb{Z},+)$ is an infinite cyclic group. It has identity element $0$, inverse element $-k$ for each integer $k$, and a generator of a group $1$, but no wraparound: $3+2=5$, and no positive number of copies of $1$ sums to $0$. Both examples are abelian groups. The nonnegative integers under addition have closure, associativity, and an identity element, but lack an inverse element for $1$. Reversibility is precisely what fails.

The beauty of the abstraction is that a calculation using only the group axioms applies simultaneously to arithmetic and to geometric isometries. To make that connection universal, let each $g\in G$ act on $G$ by the translation in a group $L_g(x)=gx$. Each $L_g$ is a bijection, with inverse $L_{g^{-1}}$, and $L_g{L}_h=L_{gh}$. Distinct elements give distinct maps because $L_g(e)=g$. This proves Cayley's theorem: every group is isomorphic to a subgroup of a symmetric group. A group action specifies how a group moves some other set; a group homomorphism compares groups while preserving their composition rules.

An important historical connection is the use of permutations to study polynomial equations. In the memoir submitted in 1831 and published by Liouville in 1846, Galois associates a group to a polynomial equation and studies how it changes when additional quantities are declared known. Proposition I relates this group to expressions in the roots of a polynomial whose values remain unchanged under its permutations; Proposition IV restricts the allowed permutations after adjoining a function of the roots of a polynomial. This connects reversible rearrangements with deciding solvability by radicals. See Galois's original memoir, pp. 417–433, especially Propositions I and IV; Liouville's introduction, p. 382.

A left group action of a group $G$ on a set $X$ is a function $(g,x)\mapsto g\cdot x$ satisfyingwhere $e$ is the identity element of $G$. The second rule means that $h$ moves the point first and $g$ moves it next. These rules let group multiplication describe consistent rearrangements of a set; see Ackerman's algebra notes, definition 0.4.1.1.

For each $g$, the function $x\mapsto g\cdot x$ is a bijection: its inverse is $x\mapsto g^{-1}\cdot x$, using the inverse element of $g$. Equivalently, a group action is a group homomorphism $\rho :G\to \mathrm{Sym}(X)$ into the symmetric group of all permutations of $X$, with $\rho (g)(x)=g\cdot x$ and $\rho (gh)=\rho (g)\circ \rho (h)$. See MIT's group-action notes, definition 23.1.

For a concrete group action, put the vertices of a polygon of a square at $A=(1,1)$, $B=(-1,1)$, $C=(-1,-1)$ and $D=(1,-1)$. Let $r(x,y)=(-y,x)$ be a counterclockwise quarter-turn rotation and let $s(x,y)=(y,x)$ be a reflection. Their eight permutations of the vertices of a polygon form the dihedral groupHere $D_4$ means the symmetry group of a four-sided polygon, with group order eight; the alternative convention calls this same group $D_8$. Products apply the rightmost operation first. For example, $s\cdot B=D$ and $(rs)\cdot B=r\cdot D=A$. The same group also has separate group actions on the sides of a polygon, the diagonals of a polygon, and the singleton set containing the centroid of the square. Specifying $X$ matters: changing what is moved changes the orbits of a group action and the stabilizer subgroups.

A group action need not be a faithful group action. For example, the cyclic group $C_4=\mathbb{Z}/4\mathbb{Z}$ acts on $X=\{0,1\}$ by $k\cdot x=x+k(\mathrm{mod}2)$, using modular arithmetic. Only the parity of $k$ matters: $0,2$ fix both points and $1,3$ exchange them. The associated group homomorphism $C_4\to \mathrm{Sym}(X)$ has group kernel $\{0,2\}$, of group order two. Either point has a group orbit of size two and a stabilizer subgroup of group order two, so the orbit-stabilizer theorem gives $4=2\cdot 2$.

The useful questions are which positions can be exchanged, and which transformations survive after imposing a constraint such as keeping one marked point fixed. An orbit of a group action answers the first question; a stabilizer subgroup answers the second. This turns a list of transformations into a count of distinct configurations, and explains why several transformations can produce the same configuration.

A group automorphism is a bijective group homomorphism $\alpha :G\to G$. It preserves the group operation, the identity element, and inverse elements; its inverse is another group homomorphism. Thus it is a group isomorphism with identical source and target. These maps form the automorphism group $\mathrm{Aut}(G)$ under function composition.^[ref]

For the additive finite cyclic group $C_6$, take $f_5(k)=5k(\mathrm{mod}6)$. Its output list on $0,1,2,3,4,5$ is $0,5,4,3,2,1$, a permutation of all six elements. It preserves addition because $5(a+b)=5a+5b(\mathrm{mod}6)$, and applying it twice gives $25k=k(\mathrm{mod}6)$. Hence it is a group automorphism and its own inverse function. Compare the collapsing $f_2$ in the figure under endomorphism. The general criterion under endomorphism of a finite cyclic group says exactly when such a map is reversible: its multiplier must be coprime to the size of the finite cyclic group.

A permutation need not be a group automorphism, even if it fixes the identity element. Let $\pi$ exchange $1$ and $2$ in $C_6$ and fix $0,3,4,5$. It is a bijection, and $\pi (0)=0$, butThus it fails to preserve addition and is not even a group homomorphism. Reversibility alone does not preserve the group operation.

A group automorphism carries each cyclic subgroup onto the cyclic subgroup generated by the image of its defining element, preserving the order of a group element. In particular, it carries a generator of a group to another generator of a group. For $C_6$, the existing calculation of generators of a finite cyclic group leaves only the images $1$ and $5$ for $1$, so its automorphism group consists exactly of the identity function and $f_5$. This turns the problem of compatible relabeling into a much smaller choice than enumerating arbitrary permutations.

Suppose a nonempty semigroup has, for each $a$, elements $l_a,r_a$ satisfying $b{l}_{a}a=b$ and $a{r}_{a}b=b$ for every $b$. Then it is a group. For any fixed $a$, the element $e_R=l_{a}a$ is a right identity element, and $e_L=a{r}_a$ is a left identity element. Since $e_L{e}_R=e_L=e_R$, they coincide in a two-sided identity $e$. For each $a$, putting $b=e$ in the two assumed identities gives $l_{a}a=e$ and $a{r}_a=e$. Associativity then yields $l_a=l_{a}e=l_a(a{r}_a)=(l_{a}a)r_a=e{r}_a=r_a$, a two-sided inverse element. Thus the usual group axioms follow without an assumed identity or cancellation law.

A group homomorphism is a map $\phi :G\to H$ preserving the group operation: $\phi (gh)=\phi (g)\phi (h)$. It also preserves the identity element and inverse elements. In an additive group, the same requirement reads $\phi (g+h)=\phi (g)+\phi (h)$. A group homomorphism preserves a way of combining inputs, even when several inputs have the same output.

Reduction modulo three from $\mathbb{Z}/6\mathbb{Z}$ to $\mathbb{Z}/3\mathbb{Z}$ is a group homomorphism: reducing a sum agrees with adding the reduced residues. For example, $2+5=1$ modulo six, and both sides reduce to one modulo three; the outputs $2$ and $2$ also add to one modulo three. This map is surjective but not injective, since zero and three both map to zero.

The sign of a permutation gives another example, from the symmetric group $S_3$ to the multiplicative group $\{1,-1\}$. A product of two odd permutations is even, matching $(-1)(-1)=1$. Its group kernel is $A_3$, the alternating group of even permutations. This shows how a group homomorphism can retain a useful feature while forgetting other details.

A group operation is the associative binary operation of a group. It has an identity element, and every element has an inverse element.

For a commutative ring $R$ with an identity element, use coordinatesThese matrices form a group under multiplication, withThese formulas require no division, so they remain valid over rings with zero divisors. The center of a group is $\{A(0,y,0):y\in R\}$: the commutator has only central coordinate $x{z}^{\prime }-x^{\prime }z$, and testing $x^{\prime }=0,z^{\prime }=1$ and $x^{\prime }=1,z^{\prime }=0$ forces $x=z=0$. For finite $R$, its group order is $|R{|}^3$. This includes real, integer and modular versions of the Heisenberg group; the ring $\mathbb{Z}/4\mathbb{Z}$ must not be confused with the finite field of four elements.

The identity component is the connected component containing the identity element. It is a closed normal subgroup: products and inverses of connected sets through the identity remain in that component, and conjugation preserves it. It need not be open; in the additive group $\mathbb{Q}$ with its usual topology it is the nonopen singleton $\{0\}$.

An identity element $e$ for a binary operation satisfies $e\ast a=a\ast e=a$ for every element $a$ of the underlying set. It is a two-sided identity: merely satisfying one of the two equations is insufficient. It is unique when it exists, since two candidates satisfy $e=e\ast e^{\prime }=e^{\prime }$. This uniqueness does not require the associative property.

Zero is the identity element for addition of integers, one for multiplication of integers, and the identity function for function composition of self-maps. The empty word is the identity element for concatenation. An associative operation with an identity element makes a monoid; inverse elements are an additional requirement for a group.

A mathematical identity is an equation that holds for every assignment in a specified domain of a function. For example, the distributive property gives $(x+1{)}^2=x^2+2x+1$ for every real number $x$. An identity can replace one mathematical expression by another without imposing a new restriction on that domain.

The domain remains essential. The equality $(x^2-1)/(x-1)=x+1$ holds for every real $x\ne 1$, but its left side is undefined at $x=1$. Cancelling a factor does not retrospectively define the original mathematical expression at the excluded input. An identity is different from an identity element of an algebraic operation or an identity function, which are separate concepts despite sharing a name.

A group element has infinite order when no positive power of it is the identity element.

For an element $x$ of a group with identity element $e$, define $x^0=e$, $x^n$ as a product of $n$ copies of $x$ for positive $n$, and $x^{-n}=(x^{-1}{)}^n$. Associativity and cancellation of inverse elements give $x^{m+n}=x^m{x}^n$ and $(x^m{)}^n=x^{mn}$ for all integers $m,n$. Consequently $n\mapsto x^n$ is a group homomorphism from the additive group of integers onto the cyclic subgroup generated by $x$.

An internal direct product finds independent coordinates already present inside a group. Let $H,K$ be normal subgroups of $G$ withThen the multiplication mapis a group isomorphism. Thus every element of $G$ has a unique factorization into one element of each subgroup. Conversely, the embedded factors $G\times \{e_H\}$ and $\{e_G\}\times H$ inside an external direct product of groups satisfy these conditions.

For a concrete example, take the additive cyclic group $C_6=\mathbb{Z}/6\mathbb{Z}$ and its subgroups $H=\{0,3\}$ and $K=\{0,2,4\}$. They are normal subgroups because $C_6$ is an abelian group. Their intersection is $\{0\}$, and the sums $h+k$ give every residue class exactly once. For instance, $1=3+4\mathrm{mod}6$. The table makes the unique decomposition visible.

The proof explains each hypothesis. Normality puts the group commutator $[h,k]=h^{-1}{k}^{-1}hk$ in both $H$ and $K$, so it is the identity element. Therefore the factors commute, and $\Phi$ preserves the group operation. The condition $HK=G$ makes it surjective. If $hk=e$, then $h=k^{-1}$ belongs to the intersection, forcing both to be the identity element; thus its group kernel is trivial and it is injective.

Normality cannot simply be omitted. In the symmetric group $S_3$, take $H=⟨(123)⟩$ and $K=⟨(12)⟩$. Their intersection is trivial and $HK=S_3$, but $K$ is not a normal subgroup. With permutations composed right to left, $(123)(12)=(13)$ while $(12)(123)=(23)$, so the factors do not commute. The setwise decomposition is unique, but its multiplication map is not a group homomorphism from $H\times K$. An independent-coordinate interpretation requires the group operations to agree, not merely a bijection of the underlying sets.

An inverse element of $a$ in a monoid is an element $b$ satisfying $a\ast b=b\ast a=e$, where $e$ is the identity element. Its notation is $a^{-1}$. Some elements of a monoid can lack an inverse element; a group requires one for every element. Associativity makes a two-sided inverse element unique: if $b,c$ both invert $a$, then $b=b\ast (a\ast c)=(b\ast a)\ast c=c$.

For the full transformation monoid, a self-map has an inverse element exactly when it is a bijection; that element is its inverse function. On $\{0,1\}$, the swap $s(0)=1,s(1)=0$ is its own inverse element, while a constant function has none because it merges the two inputs.

A kernel records the information lost by a homomorphism. For a group homomorphism it is the preimage of the identity element, giving the kernel of a group homomorphism; for a ring homomorphism or linear map it is the preimage of zero, giving the kernel of a ring homomorphism or kernel of a linear map. More generally, the relation $a\sim b⟺f(a)=f(b)$ records which inputs the homomorphism identifies. In the group case, its equivalence classes are cosets of the group kernel, as explained by fibres of a group homomorphism are cosets of its kernel.

The kernel of a group homomorphism is the group version of a kernel. For $\phi :G\to H$, it isIt is a normal subgroup of the domain: for $n$ in the group kernel, $\phi (gn{g}^{-1})=\phi (g)e_H\phi (g{)}^{-1}=e_H$. The group kernel describes inputs whose effect disappears after mapping. For reduction modulo three from $\mathbb{Z}/6\mathbb{Z}$, it is $\{0,3\}$; for the sign of a permutation on $S_3$, it is $A_3$. A group homomorphism is injective exactly when its group kernel contains only the identity element.

A Lie algebra over a field $k$ is a vector space $\mathfrak{g}$ with a bilinear map $[,]:\mathfrak{g}\times \mathfrak{g}\to \mathfrak{g}$, called the Lie bracket, that is alternating and satisfies the Jacobi identity. Explicitly, for all $x,y,z\in \mathfrak{g}$,This definition applies in every characteristic of a field, including characteristic two; the distinction between an Alternating Lie bracket and antisymmetry of a Lie bracket matters there. See Pavel Etingof, Lie Groups and Lie Algebras, Definition 8.4 and Remark 8.5.

The motivating question is how to describe very small symmetries. For a real Matrix Lie group $G$, the Lie algebra of a matrix Lie group is its tangent space $T_{I}G$ at the identity element. An element $X$ specifies the initial velocity of the one-parameter subgroup $\exp (tX)$, using the matrix exponential. The Lie bracket records the first nonzero effect of changing the order of two small transformations. Even when first-order motions cancel, a second-order motion can remain: the small rotation commutator below leaves a rotation about a third axis.

This turns local symmetry questions into computations with linear maps. A basis and its structure constants of a Lie algebra determine every Lie bracket by bilinearity. For example, three matrices suffice for the sl2 matrix commutator example, while the familiar cross product describes the SO(3) Lie algebra. These descriptions help calculate rotations in three dimensions and build Lie algebra representations; the same bracket structure underlies angular momentum commutation relations. The striking feature is that a nonlinear family of motions has a local description by a vector space and one product. Global information still needs care: the Lie algebra alone does not distinguish the circle group from the additive real line.

Historically, the connection with differential equations is visible in Sophus Lie's Theorie der Transformationsgruppen, volume I (1888), prepared with Friedrich Engel. Chapter 6 interprets first-order differential operators as infinitesimal transformations, linking their action on functions to the transformations those functions admit. See Lie and Engel, Chapter 6, §27, in Joël Merker's English translation; the original volume is available at the ^[ref].

A Lie group is a group that is also a finite-dimensional smooth manifold, with multiplication $G\times G\to G$ and inversion $G\to G$ both smooth maps. Its tangent space at the identity element carries a natural Lie algebra structure. Smoothness lets us differentiate the group operation; being a group means that every transformation can be composed and undone. The dimension of a manifold counts independent local parameters, rather than the number of elements of the group. See MIT 18.745, Lecture 2, Definition 2.1 and Example 2.5.

For example, the planar special orthogonal group $SO(2)$ consists of rotation matricesThe sine and cosine entries vary smoothly. Four entries appear, but they are constrained by $R_{\theta }^T{R}_{\theta }=I$ and $\det R_{\theta }=1$: locally, one angle specifies the whole matrix. Multiplication adds angles, with angles differing by $2\pi$ representing the same rotation. Thus $SO(2)$ is an infinite group of dimension one, geometrically a circle group.

The positive-dimensional examples motivate the language of continuous symmetry, but the definition also admits finite groups with the discrete topology as zero-dimensional Lie groups. Conversely, being an infinite group alone says nothing about having a continuous angle parameter. The compatibility between smooth maps and the group operation is what makes differentiation useful.