Past exam of the groups and representations course of the University of Oxford / 2025 / 2 / a

For a curve $O(t)=I+tX+O(t^2)$ in the special orthogonal group, differentiate $O(t{)}^{T}O(t)=I$ at the identity. This gives $X^T+X=0$. Conversely, the matrix exponential of any real skew-symmetric matrix is orthogonal and has determinant $\det e^{tX}=e^{t\mathrm{tr}X}=1$. HenceA basis is $L_{ij}=E_{ij}-E_{ji}$ for $1\le i<j\le N$, where $E_{ij}$ is a matrix unit. If $L_{ji}=-L_{ij}$ and $L_{ii}=0$, their Lie brackets areThere are $\left(\genfrac{}{}{0ex}{}{N}{2}\right)$ independent off-diagonal entries. A maximal torus rotates independently in mutually orthogonal two-planes, generated by $L_{12},L_{34},\dots$. ThusThe maximality follows by simultaneously decomposing commuting real skew-symmetric matrices into rotation two-planes, with at most one remaining fixed axis.