nLab special orthogonal group

Definition

The special orthogonal group or rotation group, denoted $SO(n)$, is the group of rotations in a Cartesian space of dimension $n$.

This is one of the classical Lie groups. It is the connected component of the neutral element in the orthogonal group $O(n)$.

For instance for $n=2$ we have $SO(2)$ the circle group.

It is the first step in the Whitehead tower of $O(n)$

$$\cdots \to Fivebrane(n) \to String(n) \to Spin(n) \to SO(n) \to \mathrm{O}(n) \,,$$

the next step of which is the spin group.

In physics the rotation group is related to angular momentum.

Properties

Homology and cohomology

On the ordinary cohomology of the classifying spaces $B O(n)$ and $B SO(n)$

• with $\mathbb{Z}_2$ coefficients:

  generated by the Stiefel-Whitney classes

  (e.g. Milnor & Stasheff 74, Theorem 7.1. & Theorem 12.4.)

• with integer coefficients (integral cohomology):

  generated by the integral Stiefel-Whitney classes and the Pontrjagin classes

  (e.g. Brown 82, Feshbach 83, Pittie 91, Rudolph-Schmidt 17, Theorem 4.2.23)

As part of the ADE pattern

ADE classification and McKay correspondence

Dynkin diagram/ Dynkin quiver	dihedron, Platonic solid	finite subgroups of SO(3)	finite subgroups of SU(2)	simple Lie group
$A_{n \geq 1}$		cyclic group $\mathbb{Z}_{n+1}$	cyclic group $\mathbb{Z}_{n+1}$	special unitary group $SU(n+1)$
A1		cyclic group of order 2 $\mathbb{Z}_2$	cyclic group of order 2 $\mathbb{Z}_2$	SU(2)
A2		cyclic group of order 3 $\mathbb{Z}_3$	cyclic group of order 3 $\mathbb{Z}_3$	SU(3)
A3 = D3		cyclic group of order 4 $\mathbb{Z}_4$	cyclic group of order 4 $2 D_2 \simeq \mathbb{Z}_4$	SU(4) $\simeq$ Spin(6)
D4	dihedron on bigon	Klein four-group $D_4 \simeq \mathbb{Z}_2 \times \mathbb{Z}_2$	quaternion group $2 D_4 \simeq$ Q8	SO(8), Spin(8)
D5	dihedron on triangle	dihedral group of order 6 $D_6$	binary dihedral group of order 12 $2 D_6$	SO(10), Spin(10)
D6	dihedron on square	dihedral group of order 8 $D_8$	binary dihedral group of order 16 $2 D_{8}$	SO(12), Spin(12)
$D_{n \geq 4}$	dihedron, hosohedron	dihedral group $D_{2(n-2)}$	binary dihedral group $2 D_{2(n-2)}$	special orthogonal group, spin group $SO(2n)$, $Spin(2n)$
$E_6$	tetrahedron	tetrahedral group $T$	binary tetrahedral group $2T$	E6
$E_7$	cube, octahedron	octahedral group $O$	binary octahedral group $2O$	E7
$E_8$	dodecahedron, icosahedron	icosahedral group $I$	binary icosahedral group $2I$	E8

Relation to orientation of manifolds

For $X$ an $n$-dimensional manifold a lift of the classifying map $X \to \mathcal{B}O(n)$ of the $O(n)$-principal bundle to which the tangent bundle $T X$ is associated is the same as a choice of orientation of $X$.

Examples

• For the almost degenerate case $n = 2$ there are exceptional isomorphisms of Lie groups

  $$SO(2) \simeq U(1) \simeq Spin(2)$$

  with the circle group and spin group in dimension 2.

• the case of SO(8) is special, since in the ADE classification of simple Lie groups it corresponds to D4, which makes its representation theory enjoy triality.

rotation groups in low dimensions:

Dynkin label	sp. orth. group	spin group	pin group	semi-spin group
	SO(2)	Spin(2)	Pin(2)
B1	SO(3)	Spin(3)	Pin(3)
D2	SO(4)	Spin(4)	Pin(4)
B2	SO(5)	Spin(5)	Pin(5)
D3	SO(6)	Spin(6)
B3	SO(7)	Spin(7)
D4	SO(8)	Spin(8)		SO(8)
B4	SO(9)	Spin(9)
D5	SO(10)	Spin(10)
B5	SO(11)	Spin(11)
D6	SO(12)	Spin(12)
	$\vdots$	$\vdots$
D8	SO(16)	Spin(16)		SemiSpin(16)
	$\vdots$	$\vdots$
D16	SO(32)	Spin(32)		SemiSpin(32)

see also

• Spin(5).Spin(3)

• finite rotation groups

• ADE-classification

Related concepts

$\cdots \to$ Fivebrane group $\to$ string group $\to$ spin group $\to$ special orthogonal group $\to$ orthogonal group.

group	symbol	universal cover	symbol	higher cover	symbol
orthogonal group	$\mathrm{O}(n)$	Pin group	$Pin(n)$	Tring group	$Tring(n)$
special orthogonal group	$SO(n)$	Spin group	$Spin(n)$	String group	$String(n)$
Lorentz group	$\mathrm{O}(n,1)$	$\,$	$Spin(n,1)$	$\,$	$\,$
anti de Sitter group	$\mathrm{O}(n,2)$	$\,$	$Spin(n,2)$	$\,$	$\,$
conformal group	$\mathrm{O}(n+1,t+1)$	$\,$
Narain group	$O(n,n)$
Poincaré group	$ISO(n,1)$	Poincaré spin group	$\widehat {ISO}(n,1)$	$\,$	$\,$
super Poincaré group	$sISO(n,1)$	$\,$	$\,$	$\,$	$\,$
superconformal group

• Euler angles

• finite rotation group

References

For general references see also at orthogonal group.

ordinary cohomology of the classifying spaces:

• John Milnor, Jim Stasheff, Characteristic classes, Princeton Univ. Press (1974) [ISBN:9780691081229, doi:10.1515/9781400881826, pdf]

• Edgar H. Brown, The Cohomology of $B SO_n$ and $BO_n$ with Integer Coefficients, Proceedings of the American Mathematical Society Vol. 85, No. 2 (Jun., 1982), pp. 283-288 (jstor:2044298)

• Mark Feshbach, The Integral Cohomology Rings of the Classifying Spaces of $\mathrm{O}(n)$ and $\mathrm{SO}(n)$, Indiana Univ. Math. J. 32 (1983), 511-516 (doi:10.1512/iumj.1983.32.32036)

• Harsh Pittie, The integral homology and cohomology rings of SO(n) and Spin(n), Journal of Pure and Applied Algebra Volume 73, Issue 2, 19 August 1991, Pages 105–153 (doi:10.1016/0022-4049(91)90108-E)

• Howard Georgi, §21 & 22 in: Lie Algebras In Particle Physics, Westview Press (1999), CRC Press (2019) [doi:10.1201/9780429499210]

  with an eye towards application to spinors in (the standard model of) particle physics

• Gerd Rudolph, Matthias Schmidt, around Theorem 4.2.23 of: Differential Geometry and Mathematical Physics: Part II. Fibre Bundles, Topology and Gauge Fields, Theoretical and Mathematical Physics series, Springer 2017 (doi:10.1007/978-94-024-0959-8)

See also

• Jim Stasheff, The topology and algebra of $SO(n-1) \to SO(n) \to S^{n-1}$, Herman’s seminar July 2013 (pdf slides)