Short-term variations of the elements representing the Earth's motion around the Sun and its rotation have been analyzed over the last 6000 years using 1-year steps. Their low-frequency part is compared first to the values obtained from a secular theory of the planetary long-term motion showing that they can be considered reliable enough to represent adequately the motion of the Earth over the last 5000 years. Spectral analysis of these values shows that the main periodicities are 2.67, 3.98, 5.26, 5.93, 7.9, 9.8, 11.9, 14.7, 15.8, 29, 42, 61, 122, 165 and 250 years for the eccentricity as well as for the climatic precession, with an additional component at around 930 years for the eccentricity and around 840 years for the climatic precession. Periodicities at 2.67, 3.8, 5.9, 8.0, 9.3, 11.9, 14.7, 18.6, 29, 135, 250 and 840 vr are also shown for the obliquity. Spectral analyses of the daily July mid-month insolation at 65-degrees-N show essentially the same periodicities as the climatic precession and the obliquity, i.e. 2.67, 3.98, 5.92, 8.1, 11.9, 15.7, 18.6, 29, 40, 61 and around 900 years. Finally a wider analysis of the insolation pattern was performed related to the large periodicity band of the insolation time series for the solstices and the equinoxes for 7 different latitudes. In equatorial latitudes the insolation variance is largely explained by precession. But precession dominates everywhere with the obliquity signal being stronger at polar latitudes at the solstices. The amplitudes of the insolation change at these frequencies is of the order of 0.2 Wm-2 at the maximum.