The spin precession of Haumea over a 1000 yr integration. In the top two panels, we show the spin precession of Haumea in terms of pole ecliptic longitude and latitude. In the bottom two panels, we show the precession of the orbit normal of Hi’iaka and Namaka, again in terms of ecliptic longitude and latitude. The integration parameters have been chosen to be representative of the posterior found in Table 2. Similar integrations with different values for Haumea’s J ₂ change the long-term precession period, but are qualitatively similar. Haumea’s spin precession is coupled with the nodal precession of the satellites. High-frequency, low-amplitude variations in Haumea’s pole direction are caused by Namaka’s rapid precession, while low-frequency, high-amplitude variations are coupled with Hi’iaka’s J ₂ precession. As can be seen, the precession of all components are strongly coupled, both through Hi’iaka–Namaka gravitational interactions and interactions with Haumea’s J ₂.