  The second order analytical approximation of the mean 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 to take into account a nonzero
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 Legendre series of the cosine of obliquity. The series have good
numerical properties and can be easily truncated according to the degree of
Legendre polynomials or associated functions, with first two terms playing the
principal role. The present version fixes the errors discovered in the text
that appeared in Monthly Notices RAS (388, pp. 297-944).
