  We show that a Magellanic Cloud origin for the warp of the Milky Way can
explain most quantitative features of the outer HI layer recently identified by
Levine, Blitz & Heiles (2005). We construct a model similar to that of Weinberg
(1998) that produces distortions in the dark matter halo, and we calculate the
combined effect of these dark-halo distortions and the direct tidal forcing by
the Magellanic Clouds on the disk warp in the linear regime. The interaction of
the dark matter halo with the disk and resonances between the orbit of the
Clouds and the disk account for the large amplitudes observed for the vertical
m=0,1,2 harmonics. The observations lead to six constraints on warp forcing
mechanisms and our model reasonably approximates all six. The disk is shown to
be very dynamic, constantly changing its shape as the Clouds proceed along
their orbit. We discuss the challenges to MOND placed by the observations.
