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Given a Lie group $G$, it acts smoothly on the dual $\mathfrak g^*$ of its Lie algebra $\mathfrak g$ by the coadjoint action. The orbits of that action are called coadjoint orbits.

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Meaning of the coadjoint representation and its orbits

Actually, you have it backwards. It's more intuitive and less arcane and (as Kirillov himself noted) it may have been how Lie originally tried to frame his formalism. This is best seen with an example …
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