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Were asteroids part of a planet before they became asteroids?

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Were asteroids part of a planet before they became asteroids?

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It is believed that planetesimals in the main asteroid belt evolved much like the rest of the Solar Nebula until Jupiter neared its current mass, at which point excitation from orbital resonances with Jupiter ejected over 99% of planetesimals in the belt. Both simulations and a discontinuity in spin rate and spectral properties suggest that asteroids larger than approximately 120 km in diameter accreted during that early era, whereas smaller bodies are fragments from collisions between asteroids during or after the Jovian disruption. At least two asteroids, Ceres and Vesta, grew large enough to melt and differentiate, with heavy metallic elements sinking to the core, leaving rocky minerals in the crust.

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