The average sidereal period for an asteroid moving around the Sun in the asteroid belt, according to Kepler's law, is

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According to Kepler's third law, the square of the orbital period is proportional to the cube of the semi-major axis of its orbit. For the asteroid belt, which is roughly between 2.1 and 3.3 AU from the Sun, the average distance is about 2.8 AU. Using Kepler's law, the average sidereal period is approximately 4.68 years.

The Average Sidereal Period for an Asteroid Moving Around the Sun