The asteroids consists of countless thousands of tiny planets left over from the Solar Systems early history, when the Sun and Planets were being formed. Most of them can be formed in the wide gap between the orbits of Mars and Jupiter.
In the early days of the Solar System, space must have been quite thick with bodies like these. Gradually, though, they collided with each other and combined together to form the major planets. The largest asteroid , Ceres , is 100 kilometers across but most asteroids are quite small.
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