Asteroids are believed to be debris left over from the failure of a planet to form at a distance of about 3 AU from the Sun.

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Quizplus · Accepted Answer

Asteroids are indeed considered to be remnants from the early solar system, primarily composed of rock and metal, that never coalesced into a planet due to the gravitational influence of Jupiter. They are primarily found in the asteroid belt, which is located roughly between 2.1 and 3.3 astronomical units (AU) from the Sun.

Asteroids Are Believed to Be Debris Left Over from the Failure