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garrett said:If you want to understand this derivation, and see "why gauge theories?," then the first step is to understand what the Maurer-Cartan form is for a Lie group. Have you heard of that?
Yes--heard of the MC form. Looked it up though, just now:
https://en.wikipedia.org/wiki/Maurer–Cartan_form
Differential 1-form defined on the Lie group G with values in the Lie algebra, the tangent space at the identity e.
Tg(G) -> Te(G)