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A finite-dimensional Lie algebra representation in which every representing endomorphism is nilpotent has a nonzero vector annihilated by the entire Lie algebra. Applying this to the Adjoint representation is the key step in Engel theorem.

The Cayley-Hamilton theorem says that every square complex matrix satisfies its own characteristic polynomial: if ${\chi }_A(t)=t^n+c_{n-1}{t}^{n-1}+\cdots +c_0$, thenFor a $2\times 2$ diagonalisable matrix, write $A=SD{S}^{-1}$ with $D=\mathrm{diag}({\lambda }_1,{\lambda }_2)$. The characteristic polynomial is $(t-{\lambda }_1)(t-{\lambda }_2)$, including repeated roots. Evaluating it at $D$ gives zero in each diagonal position, and polynomial evaluation respects matrix similarity: ${\chi }_A(A)=S{\chi }_A(D)S^{-1}=0$. This proves the requested case.

For the final assertion, let $\lambda$ be any complex eigenvalue of $B$, with nonzero eigenvector $\mathbf{v}$. From $B^k=0$ we obtain $0=B^k\mathbf{v}={\lambda }^k\mathbf{v}$, so $\lambda =0$. The characteristic polynomial of this nilpotent linear map is therefore $t^n$. Applying the full Cayley-Hamilton theorem yields $\boxed{B^n=0}$. This argument does not assume $B$ is diagonalisable.

For the Adjoint representation of a Lie algebra, the operator associated with $x\in L$ isThe Jacobi identity gives $[{\mathrm{ad}}_x,{\mathrm{ad}}_y]={\mathrm{ad}}_{[x,y]}$, so this really is a Lie algebra representation. Define the lower central series of a Lie algebra by $L^1=L$ and $L^{r+1}=[L,L^r]$. A nilpotent Lie algebra is one for which $L^{c+1}=0$ for some integer $c$. If this holds, ${\mathrm{ad}}_x$ carries $L^r$ into $L^{r+1}$, and consequently $({\mathrm{ad}}_x{)}^{c}L=0$. This proves one implication without any condition on the field.

For the converse, we prove the linear form of the Engel theorem: if $A\subseteq \mathrm{End}(V)$ is a finite-dimensional Lie algebra consisting entirely of nilpotent linear maps, with $V\ne 0$ finite-dimensional, then there is a nonzero vector annihilated by all of $A$. This argument works over any field.

Induct on $\dim A$. The assertion is immediate when $A=0$. First observe that if $b^m=0$, then its commutator action on $\mathrm{End}(V)$ is nilpotent, becauseLet $B$ be a proper Lie subalgebra of $A$. The commutator action of $B$ on $A/B$ therefore consists of nilpotent linear maps. Its image has dimension at most $\dim B<\dim A$, so induction supplies a nonzero coset $a+B$ annihilated by $B$. Thus $[B,a]\subseteq B$, and the normalizer $N_A(B)=\{a\in A:[a,B]\subseteq B\}$ strictly contains $B$. This is the Engel normalizer lemma.

Choose $B$ maximal among proper Lie subalgebras. Its normalizer must be $A$, so $B$ is a Lie algebra ideal. Moreover $\dim (A/B)=1$: otherwise the inverse image of a one-dimensional subalgebra of $A/B$ would lie strictly between $B$ and $A$. By induction,Since $B$ is an ideal, $W$ is $A$-invariant: $b(av)=a(bv)+[b,a]v=0$. Take $x\in A\setminus B$. Its restriction to $W$ is nilpotent and hence has a nonzero kernel. A nonzero vector in that kernel is annihilated by $B$ and $x$, and therefore by all of $A$. This completes the induction.

Apply this result successively to $V$, then its quotient by a common annihilated line, and so on. We obtain a complete flag $0=V_0\subset V_1\subset \cdots \subset V_n=V$ with $A{V}_i\subseteq V_{i-1}$. Equivalently every element of $A$ is strictly upper triangular in one common basis; any product of $n$ such operators is zero.

Now take $V=L$ and $A=\mathrm{ad}(L)$. The hypothesis supplies exactly the nilpotence needed above. Every iterated bracket of length $n+1$, where $n=\dim L$, is an application of $n$ adjoint operators and vanishes. These brackets span $L^{n+1}$, giving $L^{n+1}=0$. The zero algebra is already nilpotent. Thus $L$ is nilpotent if and only if every ${\mathrm{ad}}_x$ is nilpotent. The common flag is essential: separate nilpotence of unrelated operators would not imply that their mixed products vanish.

Over the complex numbers, every finite-dimensional representation of a solvable Lie algebra has a basis in which every representing matrix is upper triangular. The Lie theorem is often stated first as the existence of a common eigenvector in every nonzero finite-dimensional Lie algebra representation of a solvable Lie algebra. Applying that assertion successively to quotient representations gives an invariant complete flag, and hence the upper triangular form. The same proof works over any algebraically closed field of characteristic zero.

We prove the common eigenvector assertion by induction on $\dim \mathfrak{g}$, writing the action as $av$. The zero Lie algebra is immediate. If $\mathfrak{g}\ne 0$ is solvable, its derived series of a Lie algebra shows that $[\mathfrak{g},\mathfrak{g}]\ne \mathfrak{g}$. Choose a codimension-one ideal of a Lie algebra $\mathfrak{a}$ containing $[\mathfrak{g},\mathfrak{g}]$, and choose $x\notin \mathfrak{a}$. By induction there are $v\ne 0$ and a linear functional $\lambda :\mathfrak{a}\to \mathbb{C}$ such that $av=\lambda (a)v$ for all $a\in \mathfrak{a}$.

Let $W$ be the span of $v,xv,x^{2}v,\dots$. If $m=\dim W$, the first $m$ of these vectors form a basis, and $W$ is $x$-invariant. We claim that for each $a\in \mathfrak{a}$,For $j=0$ this is the definition of $v$. For the induction step, use $ax=xa+[a,x]$ and $[a,x]\in \mathfrak{a}$. Applying the induction hypothesis to both $a$ and $[a,x]$ proves the claim. Consequently $W$ is $\mathfrak{a}$-invariant, and every $a\in \mathfrak{a}$ acts on $W$ by an upper triangular matrix with all diagonal entries $\lambda (a)$.

Since both $x$ and $a$ preserve $W$, the matrix trace of their commutator on $W$ is zero. The claim applied to $[x,a]\in \mathfrak{a}$ givesHere characteristic zero is essential: $m\ne 0$ in the field, so $\lambda ([x,a])=0$. Now the common weight spaceis nonzero and $x$-invariant. Indeed, for $w\in E_{\lambda }$,An endomorphism of a nonzero finite-dimensional complex vector space has an eigenvector, so choose an eigenvector of $x$ in $E_{\lambda }$. It is a common eigenvector for $\mathfrak{g}=\mathfrak{a}+\mathbb{C}x$. This proves the Lie theorem.

For the printed matrices in characteristic $p$, $[x,y]=x$, and there is no common eigenvector. Index the standard basis by $e_0,\dots ,e_{p-1}$. The cyclic entry in the PDF givesThe $p$ diagonal eigenvalues of $y$ are distinct in $k$. Thus every eigenvector of $y$ is a scalar multiple of a single $e_j$. Since $p\ge 2$, $x{e}_j$ is never a scalar multiple of $e_j$, proving the assertion even when $k$ is not an algebraically closed field.

For $1\le j\le p-1$,At the cyclic boundary,Hence $[x,y]=x$. The two-dimensional Lie subalgebra $kx+ky$ has derived algebra $kx$, whose own derived algebra is zero, so it is solvable. It nevertheless has no common eigenvector, including after extending $k$ to its algebraic closure. This is a failure of Lie theorem in positive characteristic. In the proof above, the obstruction is precisely that $\dim W=p$ can vanish as a scalar in $k$.

The derived algebra of a complex solvable Lie algebra is nilpotent. First suppose $\mathfrak{g}\subseteq \mathfrak{gl}(V)$. By the Lie theorem, put every element of $\mathfrak{g}$ in upper triangular form. The diagonal of a commutator of upper triangular matrices is zero, so $\mathfrak{d}=[\mathfrak{g},\mathfrak{g}]$ consists of strictly upper triangular matrices. The Lie algebra of all such matrices is a nilpotent Lie algebra: if $F_r$ consists of matrices whose entries vanish whenever $j-i<r$, thenTherefore the lower central series of a Lie algebra of $\mathfrak{d}$ reaches zero. Alternatively, every element of $\mathfrak{d}$ is a nilpotent linear map, and the Engel theorem states that a finite-dimensional Lie subalgebra consisting of nilpotent linear maps is a nilpotent Lie algebra.

For an abstract complex solvable Lie algebra $\mathfrak{g}$, apply the preceding result to its Adjoint representation. The Lie algebra $\mathrm{ad}\mathfrak{d}=[\mathrm{ad}\mathfrak{g},\mathrm{ad}\mathfrak{g}]$ is nilpotent. Since $\ker (\mathrm{ad}{|}_{\mathfrak{d}})=\mathfrak{d}\cap Z(\mathfrak{g})$ is central in $\mathfrak{d}$, some term of the lower central series of a Lie algebra of $\mathfrak{d}$ lies in that central ideal; the next term is zero. Thus $\mathfrak{d}$ itself is nilpotent.

Conversely, every nilpotent Lie algebra is solvable, since its derived series of a Lie algebra is contained term by term in its lower central series of a Lie algebra. If $\mathfrak{d}$ is nilpotent, it is therefore solvable, and $\mathfrak{g}/\mathfrak{d}$ is Abelian. More directly, the derived series of a Lie algebra of $\mathfrak{g}$, after its first term, is the derived series of a Lie algebra of $\mathfrak{d}$. Consequently the derived algebra nilpotence criterion is

The form attached to $V$ is $B_V(x,y)={\mathrm{tr}}_V(xy)$. More generally, for a Lie algebra representation $\rho$, the Trace form of a Lie algebra representation isThe unqualified Killing form is the special case of the Adjoint representation,The distinction matters: a Trace form of a Lie algebra representation can be degenerate even when $\mathfrak{g}$ is semisimple, for example on the trivial Lie algebra representation.

The Trace form of a Lie algebra representation is bilinear and symmetric, because $\mathrm{tr}(AB)=\mathrm{tr}(BA)$. It is an invariant bilinear form on a Lie algebra:This follows by expanding both commutators and cyclically permuting factors under the matrix trace. Equivalently,Its radical of a bilinear form is an ideal of a Lie algebra, since if $B_V(y,-)=0$, then $B_V([x,y],z)=-B_V(y,[x,z])=0$. The Killing form is also preserved by every automorphism of a Lie algebra, because the corresponding adjoint operators are conjugate. On a complex finite-dimensional Lie algebra, the Cartan criterion for semisimplicity says that the Killing form is nondegenerate exactly when the Lie algebra is semisimple. The Cartan solvability criterion says that $\mathfrak{g}$ is solvable exactly when $B(\mathfrak{g},[\mathfrak{g},\mathfrak{g}])=0$.

We next construct the sl2 subalgebra associated with a root. Use the root-space decompositionFor $u\in {\mathfrak{g}}_{\beta }$, $v\in {\mathfrak{g}}_{\gamma }$, invariance of the Killing form givesThus $B({\mathfrak{g}}_{\beta },{\mathfrak{g}}_{\gamma })=0$ unless $\beta +\gamma =0$, and $B({\mathfrak{g}}_{\beta },\mathfrak{h})=0$ for nonzero $\beta$. Nondegeneracy of $B$ on $\mathfrak{g}$ now implies that $-\alpha$ is a root and that $B$ pairs ${\mathfrak{g}}_{\alpha }$ and ${\mathfrak{g}}_{-\alpha }$ nondegenerately.

Nondegeneracy of $B{|}_{\mathfrak{h}}$ defines a unique $t_{\alpha }\in \mathfrak{h}$ byChoose $x\in {\mathfrak{g}}_{\alpha }$ and $y\in {\mathfrak{g}}_{-\alpha }$ with $B(x,y)=1$. Their Lie bracket lies in the zero root space, namely $\mathfrak{h}$, andTherefore $[x,y]=t_{\alpha }$.

The essential nonisotropic root lemma is that $\alpha (t_{\alpha })\ne 0$. Suppose instead that it vanished. Then $[t_{\alpha },x]=[t_{\alpha },y]=0$, so $⟨x,y,t_{\alpha }⟩$ would be a solvable Lie algebra with derived algebra $\mathbb{C}{t}_{\alpha }$. Apply the Lie theorem to its action on $\mathfrak{g}$ by the Adjoint representation. The commutator $\mathrm{ad}{t}_{\alpha }=[\mathrm{ad}x,\mathrm{ad}y]$ is strictly upper triangular in a suitable basis, hence nilpotent. But $t_{\alpha }\in \mathfrak{h}$, so the root-space decomposition makes $\mathrm{ad}{t}_{\alpha }$ diagonalizable. A diagonalizable nilpotent linear map is zero. Thus $t_{\alpha }$ is central in $\mathfrak{g}$. The center of a Lie algebra of a semisimple Lie algebra is zero; equivalently a central element lies in the radical of the Killing form. This forces $t_{\alpha }=0$, contradicting $\alpha \ne 0$.

Writing $c=\alpha (t_{\alpha })$, defineThe root-space decomposition and $[x,y]=t_{\alpha }$ giveThe three vectors are linearly independent because they lie in the distinct summands ${\mathfrak{g}}_{\alpha }$, $\mathfrak{h}$, and ${\mathfrak{g}}_{-\alpha }$. Their span is therefore a copy of the sl2 Lie algebra.

The weight lattice consists of the functionals integral on all coroots. With $H_{\alpha }$ the coroot above, the weight lattice iswhere the fundamental weights satisfy ${\omega }_i(H_{{\alpha }_j})={\delta }_{ij}$ for the simple roots ${\alpha }_j$. Here $P$ lies in the real span of the roots, viewed inside ${\mathfrak{h}}^{\ast }$.

The classification of finite-dimensional sl2 representations says that every finite-dimensional complex sl2 Lie algebra representation is a direct sum of irreducibles $L_m$, $m\in {\mathbb{Z}}_{\ge 0}$, on which the standard $H$ has eigenvalues $m,m-2,\dots ,-m$. Restrict any finite-dimensional Lie algebra representation of $\mathfrak{g}$ to each sl2 subalgebra associated with a root. If $v$ has weight $\lambda$, then $H_{\alpha }v=\lambda (H_{\alpha })v$, so $\lambda (H_{\alpha })$ is an integer. Thus every weight lies in $P$. The same restrictions show that the commuting simple coroots act diagonalizably, justifying the simultaneous weight-space decomposition.

For $\mathfrak{sp}(4)$, the roots are $\pm 2{\epsilon }_1$, $\pm 2{\epsilon }_2$, and $\pm {\epsilon }_1\pm {\epsilon }_2$. Work on ${\mathbb{C}}^4$ with the alternating bilinear form having matrixThe symplectic Lie algebra isUsing the matrix units $E_{ij}$, take the Cartan subalgebraDefine ${\epsilon }_i(a_1{h}_1+a_2{h}_2)=a_i$. A regular diagonal element of $\mathfrak{h}$ has centralizer precisely $\mathfrak{h}$, and every element of $\mathfrak{h}$ acts diagonalizably. Thus it is a Cartan subalgebra. The requested Cartan decomposition is the root-space decompositionChoose positive roots ${\epsilon }_1-{\epsilon }_2$, $2{\epsilon }_2$, ${\epsilon }_1+{\epsilon }_2$, $2{\epsilon }_1$. The symplectic root sl2 triple are given explicitly byFor the negative root spaces, use the corresponding $Y_{\alpha }$. These eight root vectors, together with $h_1,h_2$, form a basis: the block description above has dimension $4+3+3=10$, and the ten listed vectors are independent. Finally, the matrix unit identityverifies $[X_{\alpha },Y_{\alpha }]=H_{\alpha }$ for every row. The diagonal differences verify $[H_{\alpha },X_{\alpha }]=2X_{\alpha }$ and $[H_{\alpha },Y_{\alpha }]=-2Y_{\alpha }$. Thus each row supplies a basis of the required sl2 subalgebra associated with a root.

Put $A=\mathrm{im}\alpha$. The restriction $\beta {|}_A$ has image $\mathrm{im}(\beta \alpha )$ and kernel $A\cap \ker \beta$. By the rank-nullity theorem,Since its image is contained in $\mathrm{im}\beta$, this proves the upper bound. Also $\dim (A\cap \ker \beta )\le \dim \ker \beta =\dim V-r(\beta )$, giving the rank inequality for a composition:Examples on $U=V=W={\mathbb{R}}^2$ distinguish the inequalities. Taking $\alpha =\beta =I$ gives equality in both. Taking $\alpha =\mathrm{diag}(1,0)$ and $\beta =\mathrm{diag}(0,1)$ gives composition rank zero, strictly below the upper bound 1 and equal to the lower bound 0. Taking $\alpha =\beta =\mathrm{diag}(1,0)$ gives rank 1, strictly above the lower bound 0 and equal to the upper bound 1.

For the final nilpotent linear map, repeated application of the lower bound gives $r({\alpha }^k)\ge 2n-2k$. Since ${\alpha }^n={\alpha }^{n-k}{\alpha }^k=0$, another application givesThe two bounds coincide, yieldingIn fact the same formula includes $k=0,n$. For $n=1$ the requested index range is empty and the assumptions force $\alpha =0$.

Put $q=p^n$. A finitely generated module over $A=k[X]/(X^q)$ is finite-dimensional over $k$, and multiplication by $X$ is a nilpotent linear map $T$ with $T^q=0$. Its Jordan normal form exists over $k$ because its minimal polynomial is a power of $X$. Each Jordan block has size $r\le q$ and is the cyclic module $M_r=k[X]/(X^r)$. HenceA submodule of $M_r$ is an ideal of $k[X]/(X^r)$, and its inverse image is an ideal of the principal ideal domain $k[X]$ containing $(X^r)$. The only possibilities are $(X^j)$ with $0\le j\le r$. Thus all submodules form the chainEvery successive quotient is the one-dimensional simple module on which $X$ acts as zero. This is its unique composition series, so $M_r$ is a uniserial module and is an indecomposable representation: two nonzero direct summands would be incomparable submodules. Only $M_1$ is simple.

For $G=⟨g⟩$ of order $q$, the group algebra satisfiessince $(T-1{)}^q=T^q-1$ in characteristic $p$. Consequently, up to isomorphism, $\boxed{M_1,\dots ,M_{p^n}}$ are precisely the finite-dimensional indecomposable modules, and $\boxed{M_1\text{ is the unique simple module}}$. The finite-dimensional convention follows from the finite-generation hypothesis; “exactly” counts isomorphism classes.

For a Matrix Lie group, the exponential map of a matrix Lie group is the convergent matrix exponentialIts domain is the Lie algebra $\mathfrak{g}=T_{I}G$, and $e^{tX}\in G$ for every real $t$ when $X\in \mathfrak{g}$. Because multiples of the same matrix commute, $e^{sX}{e}^{tX}=e^{(s+t)X}$ and $(e^{tX}{)}^{-1}=e^{-tX}$. Thus take $I=\mathbb{R}$ to obtain the image of a one-parameter subgroup.

Here is the precise classification of nontrivial one-parameter subgroups. For $X\ne 0$, the smooth group homomorphism ${\gamma }_X:t\mapsto e^{tX}$ has a closed kernel $K\subset \mathbb{R}$. A closed subgroup of $\mathbb{R}$ is zero, $\tau \mathbb{Z}$ for some $\tau >0$, or all of $\mathbb{R}$. Indeed, if positive elements have infimum zero, their integer multiples approximate every real number, so closedness makes the subgroup all of $\mathbb{R}$; otherwise the infimum is attained and is its least positive generator. The last possibility is excluded by ${\gamma }_X^{\prime }(0)=X\ne 0$. Give the image the quotient topology and smooth structure from $\mathbb{R}/K$. Its inclusion in $G$ is an injective immersion, since ${\gamma }_X^{\prime }(t)=e^{tX}X$ never vanishes. Consequently it is a Lie subgroup, withIn the periodic case $[0,\tau )$ is also a parameter interval covering the image, with endpoints understood modulo $\tau$.

Two qualifications matter. If $X=0$, the image is the trivial group, a third possibility omitted by the wording “two”. Also, a general one-parameter subgroup need not be closed or embedded: an irrational winding $t\mapsto \mathrm{diag}(R(t),R(\sqrt{2}t))$ in a two-torus is an example, where $R(t)$ is a planar rotation. The classification uses the intrinsic immersed Lie subgroup structure, rather than assuming that the matrix subspace topology is the topology of $\mathbb{R}$.

For the real special linear group, differentiating $\det (I+tX)=1+t\mathrm{tr}X+O(t^2)$ at the identity shows that its Lie algebra consists of traceless matrices. Conversely $\det e^{tX}=e^{t\mathrm{tr}X}=1$ for a traceless matrix. HenceChoose the standard basis of the real sl2 Lie algebra,Their squares have the required values. Direct matrix multiplication gives the Lie bracketsWriting $[L_a,L_b]=f_{ab}{}^c{L}_c$, these specify all the nonzero Lie algebra structure constants: $f_{0+}{}^{+}=2$, $f_{0-}{}^{-}=-2$, $f_{+-}{}^0=1$, together with their negatives on reversing the lower indices.

The three requested exponentials areThus the first two images are isomorphic to the additive real group, while the last is $SO(2)$, the circle group. The PDF gives $L_{+}-L_{-}$ here; the local TeX's $L_{-}-L_{-}$ is a transcription error.

For a general generator, put $\Delta ={\alpha }_0^2+{\alpha }_{+}{\alpha }_{-}$. Direct multiplication gives $X^2=\Delta I_2$. If $\Delta >0$, the eigenvalues $\pm \sqrt{\Delta }$ give an unbounded exponential image. If $\Delta =0$ but $X\ne 0$, it is a nilpotent linear map with exponential $I_2+tX$, again unbounded. If $\Delta =-{\omega }^2<0$, the power series instead giveswith least positive period $2\pi /\omega$. Its image is a continuous image of a circle and is compact. Equivalently, $X/\omega$ is a real complex structure and is similar over $\mathbb{R}$ to the rotation generator. Therefore the exact criterion for compact one-parameter subgroups of SL2R isFor a nonzero generator only the strict inequality remains.

Write $D=\mathrm{ad}y$. The generalized eigenspace decomposition of the linear map $D$ isfor any sufficiently large $N$. Because $D$ is a derivation, the generalized-eigenspace bracket lemma givesConsequently $L_{0,y}$ is a Lie subalgebra.

The set $I(K)=\{x\in L:[x,K]\subseteq K\}$ is the normalizer of a Lie subalgebra $K$. Certainly $L_{0,y}\subseteq I(L_{0,y})$. Conversely, if $x\in I(L_{0,y})$, then $y\in L_{0,y}$ givesOn the direct sum of the nonzero generalized eigenspaces, $D$ is invertible. Hence the nonzero-eigenvalue component of $x$ vanishes, and

Now let $K$ be a Lie subalgebra containing $L_{0,y}$. Since $y\in K$, the subspace $K$ is $D$-invariant. The generalized zero eigenspace of the induced map on $L/K$ is the image of $L_{0,y}$, hence is zero. If $x\in I(K)$, then $Dx=[y,x]\in K$, so $x+K$ lies in that zero eigenspace. Thus $x\in K$ and

A nilpotent Lie algebra is one whose lower central serieseventually reaches zero. Suppose $L$ is nilpotent and $K⊊L$. Choose the least $r\ge 2$ for which ${\gamma }_r(L)\subseteq K$. Then ${\gamma }_{r-1}(L)⊈K$, and anysatisfies $[x,K]\subseteq [L,{\gamma }_{r-1}(L)]={\gamma }_r(L)\subseteq K$. Therefore $x\in I(K)\setminus K$, proving the normalizer condition for a nilpotent Lie algebra

It remains to prove the converse needed here. The Engel lemma states that if a finite-dimensional Lie algebra of linear maps consists of nilpotent maps, then the maps have a common nonzero vector in their kernels. To prove it, induct on the dimension of the algebra. For a maximal proper subalgebra $H$, induction applied to the action of $H$ on $L/H$ produces $x\notin H$ with $[H,x]\subseteq H$. Thus $H$ is an ideal of codimension one. Induction also gives a nonzero common kernelThe ideal property makes $W$ invariant under $L$; a nilpotent representative of a basis of $L/H$ has a nonzero kernel on $W$, yielding a vector killed by all of $L$.

Apply the lemma to the Adjoint representation. It produces a nonzero element of the center of a Lie algebra. Induction on $\dim L$, followed by passage to the quotient by this center, proves Engel theorem: if every $\mathrm{ad}y$ is nilpotent, then $L$ is nilpotent. The hypothesis $L_{0,y}=L$ says exactly that every $\mathrm{ad}y$ is nilpotent, so