Abstract
In this tutorial, exponentiation and factorization (decomposition) formulas are derived and discussed for common matrix operators that arise in studies of classical dynamics, linear and nonlinear optics, and special relativity. To understand the physical properties of systems of common interest, one first needs to understand the mathematical properties of the symplectic group Sp(2), the special unitary groups SU(2) and SU(1,1), and the special orthogonal groups SO(3) and SO(1,2). For these groups, every matrix (of practical interest) can be written as the exponential of a generating matrix, which is a linear combination of three fundamental matrices (generators). For Sp(2), SU(1,1) and SO(1,2), every matrix also has a Schmidt decomposition, in which it is written as the product of three simpler matrices. The relations between the entries of the matrix, the generator coefficients and, where appropriate, the Schmidt-decomposition parameters are described in detail. It is shown that Sp(2) is homomorphic to (has the same structure as) SU(1,1) and SO(1,2), and SU(2) is homomorphic to SO(3). Several examples of these homomorphisms (relations between Schmidt decompositions and product rules) are described, which illustrate their usefulness (complicated results can be anticipated or derived easily). This tutorial is written at a level that is suitable for senior undergraduate students and junior graduate students.