Abstract: One of limiting factors on dynamical theory of whole Earth rotation is that,it can't definitely express various geometrical and physical axes of Earth(Tisserand axis,rotation axis,instantaneous figure axis,momentum axis,CEP and CIP axis) in mathematics.Based on the classical theory on rotation of the fluid core Earth,an associated dynamical equation containing both nutation and wobble of the Earth rotation have been established.Therefore,the dynamical equations on polar motion and precession-nutation of various geometrical and physical axes of Earth rotation are given,and the bottom of the definition and relations among these axes were got to.