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In page Natural satellite:

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The upper limit is also vague. Two orbiting bodies are sometimes described as a double planet rather than a primary and satellite. Asteroids such as 90 Antiope are considered double asteroids, but they have not forced a clear definition of what constitutes a moon. Some authors consider the Pluto–Charon system to be a double (dwarf) planet. The most common[citation needed] dividing line on what is considered a moon rests upon whether the barycentre is below the surface of the larger body, though this is somewhat arbitrary because it depends on distance as well as relative mass.