FAQ 6.1, Figure 1. Schematic of the Earth’s orbital changes (Milankovitch cycles) that drive the ice age cycles. ‘T’ denotes changes in the tilt (or obliquity) of the Earth’s axis, ‘E’ denotes changes in the eccentricity of the orbit (due to variations in the minor axis of the ellipse), and ‘P’ denotes precession, that is, changes in the direction of the axis tilt at a given point of the orbit. Source: Rahmstorf and Schellnhuber (2006).