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It takes the earth 24 hours (1 day) to complete one rotation.

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24 hours is a good estimate; rotation refers to earth's movement on its axis. But depending on how minutely accurate you want to be, even "24 hours" needs to be tweaked a little. When a point on the equator for example goes from one solar noon to the next, it has rotated slightly more than one full time. The earth's rotation and its orbit are going counter-clockwise. As a result the earth has to turn a little extra to put the sun in the same position as the previous solar noon. The 24-hour day is based on this solar day, averaged (hence the word "mean") over the year to give us Greenwich Mean Time. A sidereal rotation is relative not to the sun but to the distant stars, and will be a little less than a mean solar day. It will also be precisely 360 degrees. It will be roughly 23 hours, 56 minutes and 4 seconds.

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