\section{Lie Symmetries}

\begin{frame}
\frametitle{Lie Symmetries}

\begin{itemize}
\item A group transformation involving $t$, $\theta$, $\psi$ and $\phi$ in an one
continuous parameter $\varepsilon \in \mathbb{R}$ can be done from:
\begin{equation}
\begin{aligned}
&\bar{t}=\psi(t,\theta,\psi,\phi,\varepsilon) \quad \bar{\theta} =
\phi(t,\theta,\psi,\phi,\varepsilon) \\ &
\bar{\psi}=\psi(t,\theta,\psi,\phi,\varepsilon) \quad \bar{\phi} =
\phi(t,\theta,\psi,\phi,\varepsilon)
\end{aligned}
\label{eq}
\end{equation}
\item One can expand $\bar{t}$, $\bar{\theta}$, $\bar{\phi}$ and $\bar{\psi}$ with
MacLaurin series close to $\varepsilon$ by using:
\begin{equation}
\begin{aligned}
& \bar{t} = t + \varepsilon \frac{\partial\alpha}{\partial\varepsilon}\bigg|
_{\varepsilon \rightarrow 0}\ \quad \hspace{1cm} \bar{\theta} = \theta +
\varepsilon\frac{\partial\iota}{\partial\varepsilon}\bigg|_{\varepsilon \rightarrow
0}
\\
& \bar{\phi} = \phi + \varepsilon \frac{\partial\kappa}{\partial\varepsilon}\bigg|
_{\varepsilon \rightarrow 0}\ \quad \hspace{1cm} \bar{\psi} = \psi +
\varepsilon\frac{\partial\lambda}{\partial\varepsilon}\bigg|_{\varepsilon
\rightarrow 0}
\end{aligned}
\label{eq1}
\end{equation}
\end{itemize}

\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}
\begin{itemize}
\item By defining new functions called by infinitesimals:
\begin{equation}
\begin{aligned}
& \xi (t,\theta,\phi,\psi) = \frac{\partial\alpha}{\partial\varepsilon}\bigg|
_{\varepsilon \rightarrow 0} \quad \hspace{1cm} \eta (t,\theta,\phi,\psi) =
\frac{\partial\iota}{\partial\varepsilon}\bigg|_{\varepsilon \rightarrow 0} \\
& \rho (t,\theta,\phi,\psi) = \frac{\partial\kappa}{\partial\varepsilon}\bigg|
_{\varepsilon \rightarrow 0} \quad \hspace{1cm} \sigma (t,\theta,\phi,\psi) =
\frac{\partial\lambda}{\partial\varepsilon}\bigg|_{\varepsilon \rightarrow 0}
\end{aligned}
\end{equation}
so
\begin{equation}
\begin{aligned}
& \bar{t} = t + \varepsilon \xi(t,\theta,\phi,\psi) \quad \hspace{1cm} \bar{\theta}
= \theta + \varepsilon \eta(t,\theta,\phi,\psi) \\
& \bar{\phi} = \phi + \varepsilon \rho(t,\theta,\phi,\psi) \quad \hspace{1cm}
\bar{\psi} = \psi + \varepsilon \sigma(t,\theta,\phi,\psi)
\end{aligned}
\label{eq2}
\end{equation}

\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}
\begin{itemize}
\item We need to extend the infinitesimal generators and we need to obtain
$\dot{\bar{\theta}}$:
\begin{equation}
\dot{\bar{\theta}} = \frac{d\bar{\theta}}{d\bar{t}}
\label{eq3}
\end{equation}
where $d\bar{\theta}=d\theta+\varepsilon d\eta $ and $d\bar{t}=dt+\varepsilon
d\xi$. Differentiating these therms by $t$: \[\frac{d\bar{\theta}}{dt} =
\dot{\theta} + \varepsilon\frac{d}{dt}(\eta) \hspace{2cm} \frac{d\bar{t}}{dt} = 1 +
\varepsilon\frac{d}{dt}(\xi)\]
since that $\varepsilon \rightarrow 0$ and applying the binomial
rule\footnote{($1+x$)$^{\lambda} = 1 + \lambda x + \frac{\lambda(\lambda-1)}{2}x^2
+ \cdots$}:
\begin{equation}
\begin{aligned}
&\dot{\bar{\theta}} = \frac{\dot{\theta} + \varepsilon\frac{d}{dt}(\eta)}{1 +
\varepsilon\frac{d}{dt}(\xi)} \approx \left(\dot{\theta} + \varepsilon\frac{d}{dt}
(\eta)\right)\left(1 - \varepsilon\frac{d}{dt}(\xi)\right) = \\ & \dot{\theta} -
\dot{\theta}\varepsilon\frac{d}{dt}(\xi) + \varepsilon\frac{d}{dt}(\eta) -
\varepsilon^2\frac{d}{dt}(\xi) \approx \dot{\theta} + \varepsilon\beta^{(1)}
\label{ee}
\end{aligned}
\end{equation}

\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}

\begin{itemize}
\item Where high order terms were disregarded:
\begin{equation}
\beta^{(1)} = \frac{d}{dt}(\eta) - \dot{\theta}\frac{d}{dt}(\xi) =
\frac{\partial\eta}{\partial t} + \left(\frac{\partial\eta}{\partial \theta} -
\frac{\partial\xi}{\partial t}\right)\dot{\theta} - \frac{\partial\xi}{\partial
\theta}(\dot{\theta})^2
\label{beta1}
\end{equation}

\item In systems of differential equations with higher order terms, should extend
the extension for these variables.

\item One can write $\ddot{\bar{\theta}}$ due to the vector field $\gamma =
\left\lbrace\xi\quad\eta\quad\rho\quad\sigma\right\rbrace^T$ and $\varepsilon$ with
the same procedure as above from:

\begin{equation}
\begin{aligned}
&\ddot{\bar{\theta}} = \frac{d\dot{\bar{\theta}}}{d\bar{t}} = \frac{\frac{d}{d{t}}
(\dot{\theta} + \varepsilon\beta^{(1)})}{\frac{d}{dt}(t+\varepsilon\xi)} =
\frac{\ddot{\theta}+\varepsilon\frac{d}{dt}\left(\beta^{1}\right)}
{1+\varepsilon\dfrac{d}{dt}\left(\xi\right)} \approx \\ & \left(\ddot{\theta}
+\varepsilon\frac{d}{dt}\left(\beta^{1}\right)\right)\left(1-\varepsilon\frac{d}
{dt}\left(\xi\right)\right) \approx \ddot{\theta} + \varepsilon\beta^{(2)}
\end{aligned}
\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}
\begin{itemize}
\item where
\begin{equation}
\begin{aligned}
\beta^{(2)} = & \frac{d}{dt}\left(\beta^{(1)}\right) - \ddot{\theta}\frac{d}
{dt}\left(\xi\right) = \frac{\partial^2\eta}{\partial t^2} +
\left(2\frac{\partial^2\eta}{\partial t\partial \theta}-\frac{\partial^2\xi}
{\partial t^2}\right)\dot{\theta} + \\ & \left(\frac{\partial^2\eta}{\partial
\theta^2} - 2\frac{\partial^2\xi}{\partial t\partial \theta}\right)(\dot{\theta})^2
- \frac{\partial^2\xi}{\partial\theta^2}(\dot{\theta})^3 +
\left(\frac{\partial\eta}{\partial \theta} - 2\frac{\partial\xi}{\partial
t}\right)\ddot{\theta} - 3\frac{\partial\xi}{\partial
\theta}\dot{\theta}\ddot{\theta}
\end{aligned}
\label{beta2}
\end{equation}
is the extension of second order and where $\frac{d}{dt}(\beta^{(1)})$ is \
[\frac{d}{dt}(\beta^{(1)}) = \frac{\partial\beta^{(1)}}{\partial t} +
\dot{\theta}\frac{\partial\beta^{(1)}}{\partial \theta} +
\ddot{\theta}\frac{\partial\beta^{(1)}}{\partial \dot{\theta}}\]

\item The generalized procedure for high order prolongation:

\begin{equation}
\beta^{(\textrm{k})}
(t,\theta,\dot{\theta},\ddot{\theta},\ldots,\overset{{}^{\textrm{k}}}{\theta}) =
\left(\frac{d}{dt}\right)^{\textrm{k}}\eta - \sum_{j=1}^{\textrm{k}}
\frac{\textrm{k}!}{(\textrm{k}-j)!j!}\overset{{}^{(\textrm{k}-j+1)}}
{\theta}\left(\frac{d}{dt}\right)^j\xi
\end{equation}
where $\textrm{k} = 1, 2, 3, \ldots$

\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}
\begin{itemize}
\item We need to extend the infinitesimal generators and we need to obtain
$\dot{\bar{\phi}}$:
\begin{equation}
\dot{\bar{\phi}} = \frac{d\bar{\phi}}{d\bar{t}}
\label{eq32}
\end{equation}
where $d\bar{\phi}=d\phi+\varepsilon d\rho $ and $d\bar{t}=dt+\varepsilon d\xi$.
Differentiating these therms by $t$: \[\frac{d\bar{\phi}}{dt} = \dot{\phi} +
\varepsilon\frac{d}{dt}(\rho) \hspace{2cm} \frac{d\bar{t}}{dt} = 1 +
\varepsilon\frac{d}{dt}(\xi)\]
since that $\varepsilon \rightarrow 0$ and applying the binomial
rule\footnote{($1+x$)$^{\lambda} = 1 + \lambda x + \frac{\lambda(\lambda-1)}{2}x^2
+ \cdots$}:
\begin{equation}
\begin{aligned}
&\dot{\bar{\phi}} = \frac{\dot{\phi} + \varepsilon\frac{d}{dt}(\rho)}{1 +
\varepsilon\frac{d}{dt}(\xi)} \approx \left(\dot{\phi} + \varepsilon\frac{d}{dt}
(\rho)\right)\left(1 - \varepsilon\frac{d}{dt}(\xi)\right) = \\ & \dot{\phi} -
\dot{\phi}\varepsilon\frac{d}{dt}(\xi) + \varepsilon\frac{d}{dt}(\rho) -
\varepsilon^2\frac{d}{dt}(\xi) \approx \dot{\phi} + \varepsilon\delta^{(1)}
\label{ee2}
\end{aligned}
\end{equation}

\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}

\begin{itemize}
\item Where high order terms were disregarded:
\begin{equation}
\delta^{(1)} = \frac{d}{dt}(\rho) - \dot{\phi}\frac{d}{dt}(\xi) =
\frac{\partial\rho}{\partial t} + \left(\frac{\partial\rho}{\partial \phi} -
\frac{\partial\xi}{\partial t}\right)\dot{\phi} - \frac{\partial\xi}{\partial \phi}
(\dot{\phi})^2
\label{delta1}
\end{equation}

\item In systems of differential equations with higher order terms, should extend
the extension for these variables.

\item One can write $\ddot{\bar{\phi}}$ due to the vector field $\gamma =
\left\lbrace\xi\quad\eta\quad\rho\quad\sigma\right\rbrace^T$ and $\varepsilon$ with
the same procedure as above from:

\begin{equation}
\begin{aligned}
&\ddot{\bar{\phi}} = \frac{d\dot{\bar{\phi}}}{d\bar{t}} = \frac{\frac{d}{d{t}}
(\dot{\phi} + \varepsilon\delta^{(1)})}{\frac{d}{dt}(t+\varepsilon\xi)} =
\frac{\ddot{\phi}+\varepsilon\frac{d}{dt}\left(\delta^{1}\right)}
{1+\varepsilon\frac{d}{dt}\left(\xi\right)} \approx \\ & \left(\ddot{\phi}
+\varepsilon\frac{d}{dt}\left(\delta^{1}\right)\right)\left(1-\varepsilon\frac{d}
{dt}\left(\xi\right)\right) \approx \ddot{\phi} + \varepsilon\delta^{(2)}
\end{aligned}
\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}
\begin{itemize}
\item where
\begin{equation}
\begin{aligned}
\delta^{(2)} = & \frac{d}{dt}\left(\delta^{(1)}\right) - \ddot{\phi}\frac{d}
{dt}\left(\xi\right) = \frac{\partial^2\rho}{\partial t^2} +
\left(2\frac{\partial^2\rho}{\partial t\partial \phi}-\frac{\partial^2\xi}{\partial
t^2}\right)\dot{\phi} + \\ & \left(\frac{\partial^2\rho}{\partial \phi^2} -
2\frac{\partial^2\xi}{\partial t\partial \phi}\right)(\dot{\phi})^2 -
\frac{\partial^2\xi}{\partial\phi^2}(\dot{\phi})^3 + \left(\frac{\partial\rho}
{\partial \phi} - 2\frac{\partial\xi}{\partial t}\right)\ddot{\phi} -
3\frac{\partial\xi}{\partial \phi}\dot{\phi}\ddot{\phi}
\end{aligned}
\label{delta2}
\end{equation}
is the extension of second order and where $\frac{d}{dt}(\delta^{(1)})$ is \
[\frac{d}{dt}(\delta^{(1)}) = \frac{\partial\delta^{(1)}}{\partial t} +
\dot{\phi}\frac{\partial\delta^{(1)}}{\partial \phi} +
\ddot{\phi}\frac{\partial\delta^{(1)}}{\partial \dot{\phi}}\]

\item The generalized procedure for high order prolongation:

\begin{equation}
\delta^{(\textrm{k})}
(t,\phi,\dot{\phi},\ddot{\phi},\ldots,\overset{{}^{\textrm{k}}}{\phi}) =
\left(\frac{d}{dt}\right)^{\textrm{k}}\rho - \sum_{j=1}^{\textrm{k}}
\frac{\textrm{k}!}{(\textrm{k}-j)!j!}\overset{{}^{(\textrm{k}-j+1)}}
{\phi}\left(\frac{d}{dt}\right)^j\xi
\end{equation}
where $\textrm{k} = 1, 2, 3, \ldots$

\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}
\begin{itemize}
\item We need to extend the infinitesimal generators and we need to obtain
$\dot{\bar{\theta}}$:
\begin{equation}
\dot{\bar{\psi}} = \frac{d\bar{\psi}}{d\bar{t}}
\label{eq33}
\end{equation}
where $d\bar{\psi}=d\psi+\varepsilon d\sigma $ and $d\bar{t}=dt+\varepsilon d\xi$.
Differentiating these therms by $t$: \[\frac{d\bar{\psi}}{dt} = \dot{\psi} +
\varepsilon\frac{d}{dt}(\sigma) \hspace{2cm} \frac{d\bar{t}}{dt} = 1 +
\varepsilon\frac{d}{dt}(\xi)\]
since that $\varepsilon \rightarrow 0$ and applying the binomial
rule\footnote{($1+x$)$^{\lambda} = 1 + \lambda x + \frac{\lambda(\lambda-1)}{2}x^2
+ \cdots$}:
\begin{equation}
\begin{aligned}
&\dot{\bar{\psi}} = \frac{\dot{\psi} + \varepsilon\frac{d}{dt}(\sigma)}{1 +
\varepsilon\frac{d}{dt}(\xi)} \approx \left(\dot{\sigma} + \varepsilon\frac{d}{dt}
(\sigma)\right)\left(1 - \varepsilon\frac{d}{dt}(\xi)\right) = \\ & \dot{\psi} -
\dot{\psi}\varepsilon\frac{d}{dt}(\xi) + \varepsilon\frac{d}{dt}(\sigma) -
\varepsilon^2\frac{d}{dt}(\xi) \approx \dot{\psi} + \varepsilon\tau^{(1)}
\label{ee3}
\end{aligned}
\end{equation}

\end{itemize}
\end{frame}
\begin{frame}
\frametitle{Lie Symmetries}

\begin{itemize}
\item Where high order terms were disregarded:
\begin{equation}
\tau^{(1)} = \frac{d}{dt}(\sigma) - \dot{\psi}\frac{d}{dt}(\xi) =
\frac{\partial\sigma}{\partial t} + \left(\frac{\partial\sigma}{\partial \psi} -
\frac{\partial\xi}{\partial t}\right)\dot{\psi} - \frac{\partial\xi}{\partial \psi}
(\dot{\psi})^2
\label{tau1}
\end{equation}

\item In systems of differential equations with higher order terms, should extend
the extension for these variables.

\item One can write $\ddot{\bar{\psi}}$ due to the vector field $\gamma =
\left\lbrace\xi\quad\eta\quad\rho\quad\sigma\right\rbrace^T$ and $\varepsilon$ with
the same procedure as above from:

\begin{equation}
\begin{aligned}
&\ddot{\bar{\psi}} = \frac{d\dot{\bar{\psi}}}{d\bar{t}} = \frac{\frac{d}{d{t}}
(\dot{\psi} + \varepsilon\tau^{(1)})}{\frac{d}{dt}(t+\varepsilon\xi)} =
\frac{\ddot{\psi}+\varepsilon\frac{d}{dt}\left(\tau^{1}\right)}
{1+\varepsilon\frac{d}{dt}\left(\xi\right)} \approx \\ & \left(\ddot{\psi}
+\varepsilon\frac{d}{dt}\left(\tau^{1}\right)\right)\left(1-\varepsilon\frac{d}
{dt}\left(\xi\right)\right) \approx \ddot{\psi} + \varepsilon\tau^{(2)}
\end{aligned}
\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Symmetries}
\begin{itemize}
\item where
\begin{equation}
\begin{aligned}
\tau^{(2)} = & \frac{d}{dt}\left(\tau^{(1)}\right) - \ddot{\psi}\frac{d}
{dt}\left(\xi\right) = \frac{\partial^2\sigma}{\partial t^2} +
\left(2\frac{\partial^2\sigma}{\partial t\partial \psi}-\frac{\partial^2\xi}
{\partial t^2}\right)\dot{\psi} + \\ & \left(\frac{\partial^2\sigma}{\partial
\psi^2} - 2\frac{\partial^2\xi}{\partial t\partial \psi}\right)(\dot{\psi})^2 -
\frac{\partial^2\xi}{\partial\psi^2}(\dot{\psi})^3 + \left(\frac{\partial\sigma}
{\partial \psi} - 2\frac{\partial\xi}{\partial t}\right)\ddot{\psi} -
3\frac{\partial\xi}{\partial \psi}\dot{\psi}\ddot{\psi}
\end{aligned}
\label{tau2}
\end{equation}
is the extension of second order and where $\frac{d}{dt}(\tau^{(1)})$ is \[\frac{d}
{dt}(\tau^{(1)}) = \frac{\partial\tau^{(1)}}{\partial t} +
\dot{\psi}\frac{\partial\tau^{(1)}}{\partial \psi} +
\ddot{\psi}\frac{\partial\tau^{(1)}}{\partial \dot{\psi}}\]

\item The generalized procedure for high order prolongation:

\begin{equation}
\tau^{(\textrm{k})}(t,\psi,\dot{\psi},\ddot{\psi},\ldots,\overset{{}^{\textrm{k}}}
{\psi}) = \left(\frac{d}{dt}\right)^{\textrm{k}}\sigma - \sum_{j=1}^{\textrm{k}}
\frac{\textrm{k}!}{(\textrm{k}-j)!j!}\overset{{}^{(\textrm{k}-j+1)}}
{\psi}\left(\frac{d}{dt}\right)^j\xi
\end{equation}
where $\textrm{k} = 1, 2, 3, \ldots$

\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Lie Theorem}
\begin{itemize}
\item Once known, the vector field $\gamma =
\left\lbrace\xi\quad\eta\quad\rho\quad\sigma\right\rbrace^T$, an infinitesimal
generator of symmetry can be obtained from:
\begin{equation}
\mathcal{X} = \begin{Bmatrix}
\xi \\
\eta \\
\rho \\
\sigma
\end{Bmatrix} \cdot \begin{Bmatrix}
\frac{\partial}{\partial t} \\
\frac{\partial}{\partial \theta} \\
\frac{\partial}{\partial \phi} \\
\frac{\partial}{\partial \psi}
\end{Bmatrix} = \xi\frac{\partial}{\partial t}+\eta\frac{\partial}{\partial \theta}
+ \rho\frac{\partial}{\partial \phi} + \sigma\frac{\partial}{\partial \psi}
\end{equation}
\item Applying the second order operator $\mathcal{U}''$:
\begin{equation}
\mathcal{U}'' = \beta^{(1)}\frac{\partial}{\partial\dot{\theta}}+
\beta^{(2)}\frac{\partial}{\partial\ddot{\theta}}+\delta^{(1)}\frac{\partial}
{\partial\dot{\phi}}+ \delta^{(2)}\frac{\partial}{\partial\ddot{\phi}}
+\tau^{(1)}\frac{\partial}{\partial\dot{\psi}}+ \tau^{(2)}\frac{\partial}
{\partial\ddot{\psi}}
\end{equation}
\item Such that, the Lie condition is:
\end{itemize}
\begin{equation}
\left(\mathcal{U}''+\mathcal{X}\right)\mathcal{F} = 0
\label{sym}
\end{equation}
\end{frame}

\begin{frame}
\frametitle{Lie Theorem}
\begin{equation}
\begin{aligned}
&
\left(\mathcal{U}''+\mathcal{X}\right)\mathcal{F} = \xi\frac{\partial\mathcal{F}}
{\partial t}+\eta\frac{\partial\mathcal{F}}{\partial \theta} +
\rho\frac{\partial\mathcal{F}}{\partial \phi} + \sigma\frac{\partial\mathcal{F}}
{\partial \psi} + \beta^{(1)}\frac{\partial\mathcal{F}}{\partial\dot{\theta}}+
\beta^{(2)}\frac{\partial\mathcal{F}}{\partial\ddot{\theta}} \\ &
+\delta^{(1)}\frac{\partial\mathcal{F}}{\partial\dot{\phi}}+
\delta^{(2)}\frac{\partial\mathcal{F}}{\partial\ddot{\phi}}
+\tau^{(1)}\frac{\partial\mathcal{F}}{\partial\dot{\psi}}+
\tau^{(2)}\frac{\partial\mathcal{F}}{\partial\ddot{\psi}} = 0
\end{aligned}
\end{equation}

\begin{itemize}
\item Applying the Lie condition (\ref{sym}) in eq. (\ref{boh}), we can to obtain
the follow determining equations:
\end{itemize}

\begin{equation}
\frac{\partial\rho}{\partial\phi} = 0
\label{deq1}
\end{equation}

\begin{equation}
\frac{\partial\rho}{\partial\psi} = 0
\label{deq2}
\end{equation}

\begin{equation}
\frac{\partial\rho}{\partial t} = 0
\label{deq3}
\end{equation}

\end{frame}

\begin{frame}
\frametitle{Lie Theorem}

\begin{equation}
\frac{\partial\rho}{\partial\theta} = 0
\label{deq4}
\end{equation}

\begin{equation}
\frac{\partial\sigma}{\partial\phi} = 0
\label{deq5}
\end{equation}

\begin{equation}
\frac{\partial\sigma}{\partial\psi} = 0
\label{deq6}
\end{equation}

\begin{equation}
\frac{\partial\sigma}{\partial t} = 0
\label{deq7}
\end{equation}

\begin{equation}
\frac{\partial\sigma}{\partial\theta} = 0
\label{deq8}
\end{equation}

\begin{equation}
\frac{\partial\xi}{\partial\phi} = 0
\label{deq9}
\end{equation}

\end{frame}
\begin{frame}
\frametitle{Lie Theorem}
\begin{equation}
\frac{\partial\xi}{\partial\psi} = 0
\label{deq10}
\end{equation}

\begin{equation}
\frac{\partial\xi}{\partial t} = 0
\label{deq11}
\end{equation}

\begin{equation}
\frac{\partial\xi}{\partial\theta} = 0
\label{deq12}
\end{equation}

\begin{equation}
\eta = 0
\label{deq13}
\end{equation}

\begin{itemize}
\item From eqs. (\ref{deq1})-(\ref{deq13}) is possible to obtain the follow
infinitesimal generators: \[\mathcal{X}_1 = \frac{\partial}{\partial t} \quad
\mathcal{X}_2 = \frac{\partial}{\partial\psi} \quad \mathcal{X}_3 = \frac{\partial}
{\partial\phi}\]

\end{itemize}

\end{frame}

\section{Reduction of the order}

%\begin{frame}
%\frametitle{Order Reduction}
%\begin{block}{To reduce the order of equation}
%\begin{itemize}
%\item Suppose $\mathcal{X}$ is a vector field not vanishing at a point of origin,
we can introduce new coordinates: \[\lbrace y(t,\theta,\phi,\psi), \hspace{.2cm}
w(t,\theta,\phi,\psi)\rbrace \]
%\item The change of variables is constructed using the methods for finding group
invariants. This implies that $\mathcal{X}$ is transformed into the form
$\partial/\partial w$ provided $y$ and $w$ satisfy the linear partial differential
equations:
%\begin{equation}
%\begin{aligned}
%&\mathcal{X}_1(y) = \xi\frac{\partial y}{\partial t} + \eta\frac{\partial y}
{\partial \theta} + \rho\frac{\partial y}{\partial \phi} + \sigma\frac{\partial y}
{\partial \psi} = 0 \\& \mathcal{X}_1(w) = \xi\frac{\partial w}{\partial t} +
\eta\frac{\partial w}{\partial \theta} + \rho\frac{\partial w}{\partial \phi} +
\sigma\frac{\partial w}{\partial \psi} = 1
%\label{condition}
%\end{aligned}
%\end{equation}

%\end{itemize}
%\end{block}
%\end{frame}