Analytical staring attitude control command generation method for Earth observation satellites is investigated in a study. The study generalizes the staring attitude command, through which various criteria and constraints can be handled, using vectors and direction cosine matrix (DCM) expressions, and derives analytically both the angular rate and the angular acceleration of the generalized staring attitude. Among the infinite criteria existing for the rotational freedom in the e line-of-sight (LOS) direction, four different criteria are selected due to their practical usefulness and the commands for each criterion are derived. The derived staring commands were analyzed through numerical simulations, and their effectiveness is evaluated. In addition, practical implementation issues of the proposed method are reviewed.