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Equations of motion are derived for (visco)elastic, self-gravitating and variably rotating planets. The equations are written using a decomposition of the elastic motion that separates the body's elastic deformation from its net translational and rotational motion as far as possible. This separation is achieved by introducing degrees of freedom that represent the body's rigid motions; it is made precise by imposing constraints that are physically motivated and that should be practically useful. In essence, a Tisserand frame is introduced exactly into the equations of solid mechanics. The necessary concepts are first introduced in the context of a solid body, motivated by symmetries and conservation laws, and the corresponding equations of motion are derived. Next, it is shown how those ideas and equations of motion can readily be extended to describe a layered fluid–solid body. A possibly new conservation law concerning inviscid fluids is then stated. The equilibria and linearization of the fluid–solid equations of motion are discussed thereafter, along with new equations for use within normal-mode coupling calculations and other Galerkin methods. Finally, the extension of these ideas to the description of multiple, interacting fluid–solid planets is qualitatively discussed. [ABSTRACT FROM AUTHOR]