1. Precession of the equinox: The direction of rotation migrates on a 20k year cycle
2. Apsidal precession: is the rotation of the elliptical orbit
3. Precession of the axis tilt: From low tilt to high tilt of the Earth's rotation
4. Precession of the inclination of the orbit. The Earth's orbit will vary periodically with the invariable plane (the weighted average of the planes of all the planets)