Earth's rotation axis moves with respect to the fixed stars (inertial space); the components of this motion are precession and nutation. It also moves with respect to Earth's crust; this is called polar motion.

Precession is a rotation of Earth's rotation axis, caused primarily by external torques from the gravity of the Sun, Moon and other bodies. The polar motion is primarily due to free core nutation and the Chandler wobble.

Earth rotates once in about 24 hours with respect to the Sun, but once every 23 hours, 56 minutes, and 4 seconds with respect to other, distant, stars. Earth's rotation is slowing slightly with time; thus, a day was shorter in the past. This is due to the tidal effects the Moon has on Earth's rotation. Atomic clocks show that a modern-day is longer by about 1.7 milliseconds than a century ago, slowly increasing the rate at which UTC is adjusted by leap seconds. Analysis of historical astronomical records shows a slowing trend of about 2.3 milliseconds per century since the 8th century BCE.