Abstract
We present a concise analytical formulation of the YORP effect, with exact formulae for torques on convex bodies and motion-averaged components applicable to any shapes. We analyze the main features of the secular torques for zero and nonzero thermal inertia that are function series dependent on only a few coefficients. Using these, we investigate the stability of the YORP effect against shape perturbations with analytical and numerical estimates. We define a quantity describing the YORP capacity of any shape, and estimate YORP stability with it.
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