Polar motion for an elastic Earth model with a homogeneous liquid core using a canonical theory

The rotational motion for an elastic Earth model with a homogeneous liquid core has been obtained using Hamilton's equations. From the canonical equations for the precessional and nutational motions in an inertial frame, the corresponding equations in an Earth fixed frame are deduced. The linearized equations obtained for polar motion and liquid core motion are equivalent to the Sasao-Okubo-Saito equations.