A method for yaw steering a spacecraft including performing yaw steering of the spacecraft to have a yaw angle (.psi.) for all sun elevation angles (.beta.). The method further including smoothing a yaw steering motion for orbital position parameters (.eta.) where high rotational rates {dot over (.psi.)} and high rotational accelerations {umlaut over (.psi.)} would occur. The instant abstract is neither intended to define the invention disclosed in this specification nor intended to limit the scope of the invention in any way.