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All the special orthogonal groups are connected, and their second homotopy groups vanish. The rotation circle gives $SO(2)\cong S^1$. Conjugation by unit quaternions gives the twofold universal cover $S^3\to SO(3)$, so ${\pi }_{1}SO(3)=\mathbb{Z}/2$ and ${\pi }_{3}SO(3)=\mathbb{Z}$. The special orthogonal sphere fibration $SO(n-1)\to SO(n)\to S^{n-1}$ propagates the first two homotopy groups for $n\ge 4$. In dimension four its exact sequence has a zero map from the torsion group ${\pi }_4{S}^3=\mathbb{Z}/2$ to ${\pi }_{3}SO(3)=\mathbb{Z}$, giving ${\pi }_{3}SO(4)={\mathbb{Z}}^2$. For $SO(1)$ all positive groups vanish, and ${\pi }_{3}SO(2)=0$.

Sending a matrix to its last column gives the special orthogonal sphere fibrationThe action is transitive and the stabilizer of that column is $SO(n-1)$. Local orthonormal frames, obtained by Gram-Schmidt process near a chosen unit vector, give local sections and hence local bundle trivializations. This allows the long exact sequence of homotopy groups of a fibration to be applied.

At the bottom of the induction, $SO(1)$ is a point and $SO(2)$ is the rotation circle $S^1$. For $SO(3)$, identify ${\mathbb{R}}^3$ with imaginary quaternions. A unit quaternion acts by $v\mapsto qv{q}^{-1}$, preserving length and orientation. Every rotation through angle $\theta$ about a unit imaginary axis $u$ comes from $q=\cos (\theta /2)+u\sin (\theta /2)$. The kernel is precisely $\{1,-1\}$, since a quaternion commuting with all imaginary quaternions is real. Thus this gives the twofold covering space $S^3\to SO(3)$. Its simply connected total space is the universal cover, yielding ${\pi }_{1}SO(3)=\mathbb{Z}/2$. Coverings induce isomorphisms on higher homotopy groups, so ${\pi }_{2}SO(3)={\pi }_2{S}^3=0$ and ${\pi }_{3}SO(3)={\pi }_3{S}^3=\mathbb{Z}$.

For $n\ge 4$, both ${\pi }_1{S}^{n-1}$ and ${\pi }_2{S}^{n-1}$ vanish. The Serre fibration sequence therefore identifies ${\pi }_{1}SO(n-1)$ with ${\pi }_{1}SO(n)$ and propagates vanishing of ${\pi }_2$. Path-connectedness also propagates from connected fiber and base. Consequently the full low-degree answer isHere ${\pi }_0$ records the single connected component.

For the remaining third group use $SO(3)\to SO(4)\to S^3$. The relevant exact segment, using the supplied fourth homotopy group, isThe first homomorphism is zero since a torsion group cannot map nontrivially to $\mathbb{Z}$. Thus it reduces to a short exact sequence $0\to \mathbb{Z}\to {\pi }_{3}SO(4)\to \mathbb{Z}\to 0$. These groups are abelian and the final free group has a lift of its generator, so the sequence splits. ThereforeThese are the low homotopy groups of special orthogonal groups.

Let $D_{+}^n$ and $D_{-}^n$ be the two closed hemispheres of the sphere. Use $\gamma$ as the clutching function between the trivial bundles on these hemispheres. The clutching construction definesThe projection to $S^n$ is locally a vector bundle. In a collar of the equator, extend the transition function by keeping it constant in the normal coordinate; this gives explicit vector bundle trivializations across the seam. Since the transition matrices lie in the special orthogonal group, the standard fiber orientations and Euclidean inner products agree on overlaps. Thus this is an oriented rank-$k$ vector bundle with a fiber metric.

For $k\ge 2$, choose a base point $u_0$ on the equator. A constant change of the negative hemisphere frame replaces $\gamma$ by $\gamma (u_0{)}^{-1}\gamma$, so we may suppose $\gamma (u_0)=I$. With $e_k$ the last standard unit vector, define the section obstruction for a clutched vector bundleThe crucial point is that a nowhere-zero section can be normalized using the fiber metric. It is then represented by continuous maps ${\sigma }_{\pm }:D_{\pm }^n\to S^{k-1}$ satisfyingon the equator.

If $f_{\gamma }=0$, the extension-null-homotopy criterion for a sphere extends $u\mapsto \gamma (u)e_k$ to $D_{-}^n$. Take this extension as ${\sigma }_{-}$ and the constant map $e_k$ as ${\sigma }_{+}$. They glue to a nowhere-zero section.

Conversely, suppose such a section exists. Restricting a contraction of $D_{+}^n$ shows that ${\sigma }_{+}{|}_{S^{n-1}}$ is homotopic to a constant. The target sphere is path connected, so the constant can be moved to $e_k$. Multiplying this homotopy pointwise by $\gamma (u)$ gives a homotopy from $\gamma {\sigma }_{+}$ to $\gamma e_k$. The first of these maps equals ${\sigma }_{-}{|}_{S^{n-1}}$ and extends over $D_{-}^n$, hence is null-homotopic. So $\gamma e_k$ is null-homotopic too. A freely null-homotopic based sphere map represents zero in its homotopy group; any change of base point sends the zero class to zero. We have proved both directions:For $n=1$, the same argument reads as the extension criterion for a two-point boundary and uses the trivial set ${\pi }_0(S^{k-1})$ when $k\ge 2$. For $k=1$, the special orthogonal group $SO(1)$ is trivial, so the vector bundle is already a trivial vector bundle; the corresponding constant map to $S^0$ has zero obstruction. These cases require no higher homotopy group calculation.

If $k>n$, then $n-1<k-1$ and the permitted vanishing of lower homotopy groups of a sphere makes $f_{\gamma }=0$. Normalize the resulting nowhere-zero section to a unit section $\sigma$, and setLocal orthonormal frames show that these orthogonal complements form a rank-$(k-1)$ vector bundle. The explicit vector bundle isomorphismhas inverse $w\mapsto (w-⟨w,\sigma ⟩\sigma ,⟨w,\sigma ⟩)$. Orient $V^{\prime }$ so that a positive frame followed by $\sigma$ is positive in $V_{\gamma }$. This is splitting a trivial line from a nowhere-zero section and proves the oriented splittingFinally consider the special orthogonal sphere fibrationThe fiber over $e_{s+1}$ consists exactly of $\mathrm{diag}(B,1)$ with $B\in SO(s)$. Near any unit vector, the Gram-Schmidt process continuously completes it to an oriented orthonormal frame, giving local sections of $p$ and local product fiber bundle charts. In particular $p$ has the homotopy lifting property.

Let $\alpha :S^r\to SO(s+1)$ be based and suppose $r<s$. The composite $p\alpha$ is a based null-homotopic map by the given vanishing of ${\pi }_r(S^s)$. Lift a based null-homotopy of $p\alpha$, beginning at $\alpha$, to a homotopy $G:S^r\times [0,1]\to SO(s+1)$. The lift might initially move its base point $u_0$, but $G(u_0,t)$ always fixes $e_{s+1}$. Right multiplication by $G(u_0,t{)}^{-1}$ corrects this: the homotopystill covers the same sphere homotopy, remains based, and starts at $\alpha$. At its endpoint every matrix fixes $e_{s+1}$, so $\tilde{G}(-,1)$ lies in the included $SO(s)$. Thus every homotopy class in the target is represented by one from $SO(s)$:This proves surjectivity of special orthogonal stabilization below the sphere dimension. For $r=0$, this is the corresponding assertion about path components; the positive-rank special orthogonal groups are connected. The lifting argument also explains the zero term ${\pi }_r(S^s)$ in the long exact sequence of homotopy groups of a fibration.

Project a based map $\alpha :S^r\to SO(s+1)$ to $S^s$. Since $r<s$, the resulting homotopy class vanishes. Lift a based null-homotopy by the special orthogonal sphere fibration. Its endpoint lies in the fiber $SO(s)$. If the lift moves its base point, right-multiply at time $t$ by the inverse of its base-point value, which lies in the fiber. This keeps the projected homotopy unchanged and makes the lift based. Thus $\alpha$ is based-homotopic to a map into $SO(s)$, proving the asserted surjectivity.