I am looking for a book talking about Lie groups and Lie algebras but not in a too abstract way.
In fact I am doing physics and I need to understand the structure of Lie algebras : why are elements of a group exponential of the algebra, why is the Lie group the tangent space etc.
I studied groups representation with the book "HF Jones Group representation and physics" and I am looking for a book like this one but talking about Lie groups & Lie algebra.
To give you an idea, I liked this book because it gave physical motivations before introducing the representations of groups, because it has proof and it is not written in a too abstract way, it has corrected exercices. Also it did some reminder on Algebra, Group theory before starting : it doesn't assume a perfect background before starting. And it goes in a straight way, it doesn't say thousands of theorem but it just expose what is necessary to get the main point.