In many undergraduate texts on quantum mechanics (I'm using Modern Quantum Mechanics 2nd Edition by Sakurai as reference here), the treatment of angular momentum goes something along the lines of:
We start with some rotation matrcices $R_x, R_y, R_z$ and then apply some power series expansion to the sines and cosines in these rotation matricies and discard terms of order $O(\epsilon^3)$ to get the expressions for infinitesimal rotations.
Then we use the "infinitesimal forms" of the corresponding unitary operator:
$$ U_\epsilon = 1 - i G \epsilon $$ where $G$ is our corresponding operator on the hilbert space. We then impose the corresponding commutation relations we got from rotation matricies $R_x, R_y, R_z$ previously.
Afterwards, the claim is that for finite rotations, the unitary operator becomes an exponential of the form $U = e^{-iG\phi}$
Here's what I don't understand:
1) Why are we using "infinitesimal" rotations as part of this derivation and where does the formula for the unitary of an infinitesimal operator come from exactly?
2) Why does the corresponding unitary for a finite rotation take the form of an exponential? ($ U = e^{-iG\phi}$). For (2), I know that the operators for observables form a Lie group (Galilean group) characterized by their commutation relations, and that the unitaries are elements of the Lie algebra which is the tangent space of the Lie group.
In my mind this means that the these unitaries have something to do with how our observables change. I also vaguely recall that the exponential map relates the Lie group and Lie algebra in some way but I'm not sure how exactly this ties everything together.