Hello,

i try to understand how one can compute the tangent space on a Lie Group G at a given point, say $\displaystyle e \ in G$ (That is to compute the Lie Algebra of G).

Is there a general method or trick?

My second question is about the special tangent space of SO(3) at e. Is there any simple way to compute the tangent space at e? I think it is more easy than in the general case, but i don't know how to do it.

Thanks in advance.