SUMMARY Linear equations governing the axial rotation of the Earth are dcveloped for a model with a Maxwell homogeneous mantle and a homogeneous inviscid fluid core having a differential rotation relative to the mantle. We find three eigenfrequencies for the axial perturbations in rotation; the first one is relative to friction acting at the core-mantle boundary and the others are relaxation modes associated with viscoelastic Love numbers. We point out the differential rotation of the core when the Earth is submitted to zonal geophysical excitations like glaciation and deglaciation, tidal torque or other processes occurring at the core-mantle boundary (CMB). We show that the tidal deceleration involves an eastward drift of the core with respect to the mantle. However, for precise values of the mantle viscosity and of the frictional constant at the CMB, we find that the last deglaciation involves a westward drift of the core with respect to the mantle which may be correlated with the observed westward drift of the geomagnetic field of the Earth.