Let $n \geqslant 1$ be an integer.

(a) Show that $\mathbb{S}^{n}=\left\{x \in \mathbb{R}^{n+1}: x_{1}^{2}+\cdots+x_{n+1}^{2}=1\right\}$ defines a submanifold of $\mathbb{R}^{n+1}$ and identify explicitly its tangent space $T_{x} \mathbb{S}^{n}$ for any $x \in \mathbb{S}^{n}$.

(b) Show that the matrix group $S O(n) \subset \mathbb{R}^{n^{2}}$ defines a submanifold. Identify explicitly the tangent space $T_{R} S O(n)$ for any $R \in S O(n)$.

(c) Given $v \in \mathbb{S}^{n}$, show that the set $S_{v}=\{R \in S O(n+1): R v=v\}$ defines a submanifold $S_{v} \subset S O(n+1)$ and compute its dimension. For $v \neq w$, is it ever the case that $S_{v}$ and $S_{w}$ are transversal?

[You may use standard theorems from the course concerning regular values and transversality.]