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Semi-analytical model of librations of a rigid moon orbiting an oblate planet

In this paper we study the rotational motion of a rigid satellite moving in the gravitational field of an oblate planet. The librations of the moon around the equilibrium state of syn- chronous stable rotation are analyzed by the application of the normal forms theory. We construct a general, semi-analytical theory of librations and we show its application to a few small moons of Saturn and Jupiter.