Covering both astronomical and geophysical perspectives, this book describes changes in the Earth's orientation, specifically precession and nutation, and how they are observed and computed in terms of tidal forcing and models of the Earth's interior. Following an introduction to key concepts and elementary geodetic theory, the book describes how precise measurements of the Earth's orientation are made using observations of extra-galactic radio-sources by Very Long Baseline Interferometry techniques. It demonstrates how models are used to accurately pinpoint the location and orientation of...