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A method is presented for input torque shaping for three-dimensional slew maneuvers of a precision pointing flexible spacecraft. The method determines the torque profiles for fixed-time, rest-to-rest maneuvers which minimize a specified performance index. Spacecraft dynamics are formulated in such a manner that the rigid body and flexible motions are decoupled. Furthermore, assembly of the equations of motion is simplified by making use of finite element analysis results. Input torque profiles are determined by solving an associated optimization problem using dynamic programming. Three example problems are provided to demonstrate the application of the method.