1.10.2 Example how to find Lie group (x,y) given canonical coordinates R,S

Given R=x,S=yx find Lie group x¯,y¯.  Solving for x,y from R,S gives

x=Ry=SR

Hence

x¯=R¯y¯=S¯R¯

But S¯=S+ϵ by definition of canonical coordinates and R¯=R by definition of canonical coordinates. Hence the above becomes

x¯=Ry¯=(S+ϵ)R

Using the values given for R,S in terms of x,y the above becomes

x¯=xy¯=(yx+ϵ)x=y+ϵx