Theory of the rotation of the rigid earth

Equations of motion for a triaxial rigid earth are derived in Andoyer variables. The reference plane is the ecliptic of date which is moving as a result of planetary perturbations. By using this noninertial system, the development of the disturbing function for the sun and moon is simplified, with an additional term appearing in the Hamiltonian which, however, contributes only to precessional motion. The nutation terms derived are compared with those of Woolard.