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As you know, Earth rotates around it's axis in an angle of 23.5 degrees. How do I make a sphere in Blender rotate like this?

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Set the sphere's y-axis to 23.5 and Rotation Mode to ZYX Euler. After that you can rotate the sphere around its local z-axis.

Set a keyframe with I at frame 1 add another one at e.g. frame 240 with z-rotation set to 359.

enter image description here

See also:

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    $\begingroup$ No need to use 359; if you type it in manually, you can use 360 just fine (or anything greater for that matter). $\endgroup$ – wchargin Sep 22 '13 at 14:51
  • $\begingroup$ And set the interpolation for both keyframes to linear $\endgroup$ – user1853 Feb 6 '16 at 16:13
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There are a few options

  • Use axis-angle rotation mode
    (a direct answer to your question).
  • Set the euler-rotation order so Z is applied last.
  • Use an empty parent, for the tilt and simply animate the child meshes Z axis.
    (I'd do this, it generally gives more control so the spin and the tilt independently).
  • You could use Copy Rotation constraint, but I don't think theres much advantage to this.
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angular velocity in Blender is not constant. To make it constant, go to Graph Editor select the animation, in the graph select the start an end and press V and change it to vector. This is in a nutshell. look for a tutorial for the Graph Editor

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