Hi,
let ##G## be a Lie group, ##\varrho## its Lie algebra, and consider the adjoint operatores, ##Ad : G \times \varrho \to \varrho##, ##ad: \varrho \times \varrho \to \varrho##.
In a paper (https://aip.scitation.org/doi/full/10.1063/1.4893357) the following formula is used. Let ##g(t)## be a...