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The second‐order analytical approximation of the mean Yarkovsky–O'Keefe–Radzievskii–Paddack (YORP) torque components is given as an explicit function of the shape spherical harmonics coefficients for a sufficiently regular minor body. The results are based upon a new expression for the insolation function, significantly simpler than in previous works. Linearized plane‐parallel model of the temperature distribution derived from the insolation function allows us to take into account a non‐zero conductivity. Final expressions for the three average components of the YORP torque related with rotation period, obliquity and precession are given in a form of the Legendre series of the cosine of obliquity. The series have good numerical properties and can be easily truncated according to the degree of the Legendre polynomials or associated functions, with first two terms playing the principal role.

YORP torque as the function of shape harmonics