subroutine PRECESSION_ROT(JEpoch1,JEpoch2,LAMBDA,BETA)
            double precision    JEpoch1
            double precision    JEpoch2
            real                LAMBDA
            real                BETA

        double precision        T

        T     = 0.01*(JEpoch1-2000.)                    !Time interval in Julian centuries
        EPS   = 23.43929111-(46.815+(0.001-0.002*T)*T)*T/3600.!Form.(9.25), p. 220
        call rotate(90.0,EPS,-90.0,LAMBDA,BETA)         !(1)
        ZETA  = (0.6406161+(0.0000839+0.0000050*T)*T)*T !Form. (9.23), p. 219
        Z     = (0.6406161+(0.0003041+0.0000051*T)*T)*T
        THETA = (0.5567530-(0.0001185+0.0000116*T)*T)*T
        call rotate(Z,-THETA,ZETA,LAMBDA,BETA)          !(2)
        T     = 0.01*(JEpoch2-2000.)                    !Time interval in Julian centuries
        ZETA  = (0.6406161+(0.0000839+0.0000050*T)*T)*T !Form. (9.23), p. 219
        Z     = (0.6406161+(0.0003041+0.0000051*T)*T)*T
        THETA = (0.5567530-(0.0001185+0.0000116*T)*T)*T
        call rotate(-ZETA,THETA,-Z,LAMBDA,BETA)         !(3)
        EPS   = 23.43929111-(46.815+(0.001-0.002*T)*T)*T/3600.!Form.(9.25), p. 220
        call rotate(90.0,-EPS,-90.0,LAMBDA,BETA)        !(4)

        return
        end