Why do some satellites of the planets have a spherical shape, while others are irregular?

If the space body has a mass greater than the critical one, at which the shear stresses are greater than the ultimate strength, then the solid body irreversibly changes its shape. The established shape becomes close to spherical, as, for example, in the Moon and the Galilean satellites of Jupiter. If the mass of the cosmic body is less than the critical one, then in this case its shape may be far from spherical. Examples of such bodies: Phobos and Deimos, Jupiter’s moon Amalthea, asteroids.

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