For rigid bodies close to a sphere, we propose an analytical solution that is free from elliptic integrals and functions, and can be fundamental for application to perturbed problems. After reordering the Hamiltonian as a perturbed spherical rotor, the Lie-series solution is generated up to an arbitrary order. Using the inertia parameters of different solar system bodies, the comparison of the approximate series solution with the exact analytical one shows that the precision reached with relatively low orders is at the same level of the observational accuracy for the Earth and Mars. Thus, for instance, the periodic errors of the mathematical solution are confined to the microarcsecond level with a simple second-order truncation for the Earth. On the contrary, higher orders are required for the mathematical solution to reach a precision at the expected level of accuracy of proposed new theories for the rotational dynamics of the Moon.
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