The rotation of the Earth is not regular. It changes on virtually every timescale we know in both position of the rotation axis and rotation rate. Even in our daily lives we sometimes experience the consequences of such changes, such as the second that is subtracted or added to clocks at the beginning of a new year. Although this second is not much more than a curiosity for most of us, the rotational changes it implies can influence our lives in a more fundamental sense. There are indications that the emergence of the great ice ages some two million years ago was triggered by a gradual shift of the rotation axis over the Earth's surface, combined with wandering of the continents and associated changes in ocean currents. The geological recor...