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This question already has an answer here:

I want to understand the relationship of the so common $SU(N)$ and $SO(N)$ groups in physics with the symplectic group which I think is the double cover of the first and the Spin groups $Spin(N)$.

Is there a good reference, mainly for physicists.

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marked as duplicate by Qmechanic Jan 9 '15 at 20:45

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