Past exam of the short options course of the University of Oxford / 2014 / 4 / e / ii

The tangent space at the identity is the kernel of a linear map from part (i):This says precisely that $JH$ is skew-symmetric. Since $J^{-1}=J$, multiplication by $J$ identifies this tangent space with the three-dimensional space of skew-symmetric $3\times 3$ matrices. In entries it isSubstitution verifies the equation directly and displays its three independent parameters.