A Decomposition of Markov Processes via Group Actions

We study a decomposition of a general Markov process in a manifold invariant under a Lie group action into a radial part (transversal to orbits) and an angular part (along an orbit). We show that given a radial path, the conditioned angular part is a nonhomogeneous Lévy process in a homogeneous space, we obtain a representation of such processes and, as a consequence, we extend the well-known skew-product of Euclidean Brownian motion to a general setting.