The dynamical evolution of uniformly rotating asteroids subject to YORP

A detailed derivation is given of the effect of solar radiation on the rotational dynamics of asteroids, commonly called the YORP effect. The current derivation goes beyond previous discussions published in the literature and provides a comprehensive secular dynamical analysis of the effect of solar radiation torques acting on a uniformly rotating body, and the evolution of its rotation state over time. Our predicted model has the global radiation properties of the asteroid as explicit parameters, and hence can be specified independent of these parameters. The resulting secular equations for the rotation rate and rotation pole are characterized by three parameters of the body's shape and explicitly includes the effect of thermal inertia on the evolution of these rotation state parameters. With this detailed model, in conjunction with estimated asteroid shapes and poles, we compute the expected YORP torques and dynamic response of several asteroids and the change in rotation rate for specific shapes as a function of obliquity. Finally, we define a convenient dimensionless parameter that is only a function of the body geometry and that can be used to characterize the effects of YORP.     

Computing the effects of YORP on the spin rate distribution of the NEO population

The overall change of NEO spin rate due to planetary encounters and YORP is evaluated by using a Monte Carlo model. A large sample of test objects mimicking a source population is evolved over a timescale comparable with the Solar System age until they reach a steady state spin distribution that should reproduce the current NEO distribution. The spin change due to YORP is computed for each body according to a simplified model based on Scheeres [Scheeres, D.J., 2007a. Icarus 188, 430-450].The steady state cumulative distribution of NEO spin rates obtained from our simulation nicely reproduces the observed one, once our results are biased to match the diameter distribution of the sample of objects included in the observational database. The excellent agreement strongly suggests that YORP is responsible for the concentration of spin at low rotation rates. In fact, in the absence of YORP the steady state population significantly deviates from the observed one. The spin evolution due to YORP is also so rapid for NEOs that the initial rotation rate distribution of any source population is quickly relaxed to that of the observed population. This has profound consequences for the study of NEO origin since we cannot trace the sources of NEOs from their rotation rate only.     

Orbital YORP and asteroid orbit evolution, with application to Apophis

Photon thrust from shape alone can produce quasi-secular changes in an asteroid's orbital elements. An asteroid in an elliptical orbit with a north–south shape asymmetry can steadily alter its elements over timescales longer than one orbital trip about the Sun. This thrust, called here orbital YORP (YORP = Yarkovsky–O'Keefe–Radzievskii–Paddack), operates even in the absence of thermal inertia, which the Yarkovsky effects require. However, unlike the Yarkovsky effects, which produce secular orbital changes over millions or billions of years, the change in an asteroid's orbital elements from orbital YORP operates only over the precession timescale of the orbit or of the asteroid's spin axis; this is generally only thousands or tens of thousands of years. Thus while the orbital YORP timescale is too short for an asteroid to secularly journey very far, it is long enough to warrant investigation with respect to 99942 Apophis, which might conceivably impact the Earth in 2036. A near-maximal orbital YORP effect is found by assuming Apophis is without thermal inertia and is shaped like a hemisphere, with its spin axis lying in the orbital plane. With these assumptions orbital YORP can change its along-track position by up to ±245 km, which is comparable to Yarkovsky effects. Though Apophis' shape, thermal properties, and spin axis orientation are currently unknown, the practical upper and lower limits are liable to be much less than the ±245 km extremes. Even so, the uncertainty in position is still likely to be much larger than the 0.5 km “keyhole” Apophis must pass through during its close approach in 2029 in order to strike the Earth in 2036.     

The effect of YORP on Itokawa

The effect of solar radiation on the near-term rotation rate of Asteroid Itokawa via the YORP effect is predicted using the detailed shape model, rotation pole, mass estimate, and optical properties derived from the Hayabusa mission to Itokawa. Based on these estimates Itokawa is decelerating at a rate which will halve its rotation rate in only 50-90 thousand years, a large deceleration that should be detectable in a future appartion. The implications of such a large deceleration for Itokawa's past history are discussed and related to possible seismic shaking.     

A possible YORP effect on C and S Main Belt Asteroids

A rotating frequency analysis in a previous paper, showed that two samples of C and S-type asteroids belonging to the Main Belt, but not to any families, present two different values for the transition diameter to a Maxwellian distribution of the rotation frequency, respectively 48 and 33 km. In this paper, after a more detailed statistical analysis, aiming to verify that the result is physically relevant, we found a better estimate for the transition diameter, respectively D_C = 44 ± 2 km and D_S = 30 ± 1 km. The ratio between these estimated transition diameters, D_C/D_S = 1.5 ± 0.1, can be supported with the help of the YORP (Yarkovsky-O’Keefe-Radzievskii-Paddack) effect, although other physical causes cannot be completely ruled out.In this paper we have derived a simple scaling law for YORP which, taking into account the different average heliocentric distance, the bulk density, the albedo and the asteroid “asymmetry surface factor”, has enabled us to reasonably justify the ratio between the diameters transition of C-type and S-type asteroids. The same scaling law can be used to estimate a new ratio between the bulk densities of S and C asteroids samples (giving ρ_S/ρ_C ≈ 2.9 ± 0.3), and can explain why the asteroids near the transition diameter have about the same absolute magnitude. For C-type asteroids, using the found density ratio and other estimates of S-type density, it is also possible to estimate an average bulk density equal to 0.9 ± 0.1 g cm⁻³, a value compatible with icy composition. The suggested explanation for the difference of the transition diameters is a plausible hypothesis, consistent with the data, but it needs to be studied more in depth with further observations.     

Extreme sensitivity of the YORP effect to small-scale topography

Radiation recoil (YORP) torques are shown to be extremely sensitive to small-scale surface topography, using numerical simulations. Starting from a set of “base objects” representative of the near-Earth object population, random realizations of three types of small-scale topography are added: Gaussian surface fluctuations, craters, and boulders. For each, the expected relative errors in the spin and obliquity components of the YORP torque caused by the observationally unresolved small-scale topography are computed. Gaussian power, at angular scales below an observational limit, produces expected errors of order 100% if observations constrain the surface to a spherical harmonic order l?10. For errors under 10%, the surface must be constrained to at least l=20. A single crater with diameter roughly half the object's mean radius, placed at random locations, results in expected errors of several tens of percent. The errors scale with crater diameter D as D² for D>0.3 and as D³ for D<0.3 mean radii. Objects that are identical except for the location of a single large crater can differ by factors of several in YORP torque, while being photometrically indistinguishable at the level of hundredths of a magnitude. Boulders placed randomly on identical base objects create torque errors roughly 3 times larger than do craters of the same diameter, with errors scaling as the square of the boulder diameter. A single boulder comparable to Yoshinodai on 25143 Itokawa, moved by as little as twice its own diameter, can alter the magnitude of the torque by factors of several, and change the sign of its spin component at all obliquities. Most of the total torque error produced by multiple unresolved craters is contributed by the handful of largest craters; but both large and small boulders contribute comparably to the total boulder-induced error. A YORP torque prediction derived from groundbased data can be expected to be in error by of order 100% due to unresolved topography. Small surface changes caused by slow spin-up or spin-down may have significant stochastic effects on the spin evolution of small bodies. For rotation periods between roughly 2 and 10 h, these unpredictable changes may reverse the sign of the YORP torque. Objects in this spin regime may random-walk up and down in spin rate before the rubble-pile limit is exceeded and fissioning or loss of surface objects occurs. Similar behavior may be expected at rotation rates approaching the limiting values for tensile-strength dominated objects.     

Combined effect of YORP and collisions on the rotation rate of small Main Belt asteroids

The rotation rate distribution of small Main Belt asteroids is dominated by YORP and collisions. These mechanism act differently depending on the size of the bodies and give rise to non-linear effects when they both operate. Using a Monte Carlo method we model the formation of a steady state population of small asteroids under the influence of both mechanisms and the rotation rate distribution is compared to the observed one as derived from Pravec et al. (Pravec, P. et al. [2008]. Icarus 197, 497-504). A better match to observations is obtained with respect to the case in which only YORP is considered. In particular, an excess of slow rotators is produced in the model with both collisions and YORP because bodies driven to slow rotation by YORP have a random walk-like evolution of the spin induced by repeated collisions with small projectiles. This is a dynamical evolution different from tumbling and it lasts until a large impact takes the body to a faster rotation rate. According to our model, the rotational fission of small asteroids is a very frequent event and might explain objects like P/2010 A2 and its associated tail of millimeter-sized dust particles. The mass loss during fission of small asteroids might significantly influence the overall collisional evolution of the belt. Fission can in fact be considered as an additional erosion mechanism, besides cratering and fragmentation, acting only at small diameters.     

Zero secular torque on asteroids from impinging solar photons in the YORP effect: A simple proof

YORP torques, where “YORP” stands for “Yarokovsky-O’Keefe-Radzievskii-Paddack,” arise mainly from sunlight reflected off a Solar System object and the infrared radiation emitted by it. We show here, through the most elementary demonstration that we can devise, that secular torques from impinging solar photons are generally negligible and thus cause little secular evolution of an asteroid’s obliquity or spin rate.     

Spin axis evolution of two interacting bodies

We consider the solid-solid interactions in the two body problem. The relative equilibria have been previously studied analytically and general motions were numerically analyzed using some expansion of the gravitational potential up to the second order, but only when there are no direct interactions between the orientation of the bodies. Here we expand the potential up to the fourth order and we show that the secular problem obtained after averaging over fast angles, as for the precession model of Boué and Laskar [Boué, G., Laskar, J., 2006. Icarus 185, 312-330], is integrable, but not trivially. We describe the general features of the motions and we provide explicit analytical approximations for the solutions. We demonstrate that the general solution of the secular system can be decomposed as a uniform precession around the total angular momentum and a periodic symmetric orbit in the precessing frame. More generally, we show that for a general n-body system of rigid bodies in gravitational interaction, the regular quasiperiodic solutions can be decomposed into a uniform precession around the total angular momentum, and a quasiperiodic motion with one frequency less in the precessing frame.     

Secular spin dynamics of inner main-belt asteroids

Understanding the evolution of asteroid spin states is challenging work, in part because asteroids have a variety of orbits, shapes, spin states, and collisional histories but also because they are strongly influenced by gravitational and non-gravitational (YORP) torques. Using efficient numerical models designed to investigate asteroid orbit and spin dynamics, we study here how several individual asteroids have had their spin states modified over time in response to these torques (i.e., 951 Gaspra, 60 Echo, 32 Pomona, 230 Athamantis, 105 Artemis). These test cases which sample semimajor axis and inclination space in the inner main belt, were chosen as probes into the large parameter space described above. The ultimate goal is to use these data to statistically characterize how all asteroids in the main belt population have reached their present-day spin states. We found that the spin dynamics of prograde-rotating asteroids in the inner main belt is generally less regular than that of the retrograde-rotating ones because of numerous overlapping secular spin-orbit resonances. These resonances strongly affect the spin histories of all bodies, while those of small asteroids (?40 km) are additionally influenced by YORP torques. In most cases, gravitational and non-gravitational torques cause asteroid spin axis orientations to vary widely over short (?1 My) timescales. Our results show that (951) Gaspra has a highly chaotic rotation state induced by an overlap of the s and s₆ spin-orbit resonances. This hinders our ability to investigate its past evolution and infer whether thermal torques have acted on Gaspra's spin axis since its origin.     

On the shapes and spins of “rubble pile” asteroids

We examine the shape of a “rubble pile” asteroid as it slowly gains angular momentum by YORP torque, to the point where “landsliding” occurs. We find that it evolves to a “top” shape with constant angle of repose from the equator up to mid-latitude, closely resembling the shapes of several nearly critically spinning asteroids imaged by radar, most notably (66391) 1999 KW4 [Ostro, S.J., Margot, J.-L., Benner, L.A.M., Giorgini, J.D., Scheeres, D.J., Fahnestock, E.G., Broschart, S.B., Bellerose, J., Nolan, M.C., Magri, C., Pravec, P., Scheirich, P., Rose, R., Jurgens, R.F., De Jong, E.M., Suzuki, S., 2006. Science 314, 1276-1280]. Similar calculations for non-spinning extremely prolate or oblate “rubble piles” show that even loose rubble can sustain shapes far from fluid equilibrium, thus inferences based on fluid equilibrium are generally useless for inferring bulk properties such as density of small bodies. We also investigate the tidal effects of a binary system with a “top shape” primary spinning at near the critical limit for stability. We find that very close to the stability limit, the tide from the secondary can actually levitate loose debris from the surface and re-deposit it, in a process we call “tidal saltation.” In the process, angular momentum is transferred from the primary spin to the satellite orbit, thus maintaining the equilibrium of near-critical spin as YORP continues to add angular momentum to the system. We note that this process is in fact dynamically related to the process of “shepherding” of narrow rings by neighboring satellites.     

Yarkovsky/YORP chronology of asteroid families

Asteroid families are the byproducts of catastrophic collisions whose fragments form clusters in proper semimajor axis, eccentricity, and inclination space. Although many families have been observed in the main asteroid belt, only two very young families, Karin and Veritas, have well-determined ages. The ages of other families are needed, however, if we hope to infer information about their ejection velocity fields, space weathering processes, etc. In this paper, we developed a method that allows us to estimate the ages of moderately young asteroid families (approximately in between 0.1 and 1 Gyr). We apply it to four suitable cases—Erigone, Massalia, Merxia, and Astrid—and derive their likely ages and approximate ejection velocity fields. We find that Erigone and Merxia were produced by large catastrophic disruption events (i.e., parent body ?100 km) that occurred approximately 280 and 330 Myr ago, respectively. The Massalia family was likely produced by a cratering event on Asteroid (20) Massalia less than 200 Myr ago. Finally, the Astrid family, which was produced by the disruption of a 60-70 km asteroid, is 100-200 Myr old, though there is considerable uncertainty in this result. We estimate that the initial ejection velocities for these families were only a few tens of meters per second, consistent with numerical hydrocode models of asteroid impacts. Our results help to verify that asteroid families are constantly undergoing dynamical orbital evolution from thermal (Yarkovsky) forces and spin vector evolution from thermal (YORP) torques.     

Effect of density inhomogeneity on YORP: The case of Itokawa

The effect of density inhomogeneity on the YORP effect for a given shape model is investigated. A density inhomogeneity will cause an offset between the center of figure and the center of mass and a re-orientation of the principal axes away from those associated with the shape alone. Both of these effects can alter the predicted YORP rate of change in angular velocity and obliquity. We apply these corrections to the Itokawa shape model and find that its YORP angular velocity rate is sensitive to offsets between its center of mass and center of figure, with a shift on the order of 15 m being able to change the sign of the YORP effect for that asteroid. Given the non-detection of YORP for Itokawa as of 2008, this can shed light on the density distribution within that body. The theory supports a shift of the asteroid center of mass towards Itokawa's neck region, where there is an accumulation of finer gravels, or towards the asteroid's “Head” region. Detection of the YORP effect for Itokawa should provide some strong constraints on its density distribution. This theory could also be applied to asteroids visited by future spacecraft to constrain density inhomogeneities.     

The YORP effect with finite thermal conductivity

The Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) effect has been recently suggested to significantly change, on a long-term, rotation state of small asteroids and meteoroids. Though YORP is closely related to the Yarkovsky (orbital) effect, it differs from the latter in two aspects: (i) YORP needs bodies of irregular shape to be effective, and (ii) YORP acts on bodies of zero surface thermal conductivity. To simplify computations, YORP has been so far investigated in the zero surface thermal conductivity limit only. Here we analyze the role of the surface conductivity and we find it substantially changes previous conclusions. Most importantly, unlike in the zero-conductivity limit, (i) YORP preferentially tilts obliquity toward two asymptotic states perpendicular to the orbital plane, and (ii) YORP asymptotically decelerates and accelerates rotation rate in about equal number of cases. Our work also indicates that direct detection of the YORP effect for a small asteroid may significantly constrain its mass.     

Tidal encounters of ellipsoidal granular asteroids with planets

We investigate planetary fly-bys of asteroids using an approximate volume-averaged method that offers a relatively simple, but very flexible, approach to study the rotational dynamics of ellipsoids. The asteroid is considered to be a deformable, prolate ellipsoid, with its interior being modeled as a rigid-granular material. Effects due to the asteroid's rotation, its self-gravity and gravitational interaction with the planet are included. Using a simplified approach allows us to explore in detail the mechanics of asteroid's deformations and disruptions during planetary encounters. We also compare our results with those obtained by Richardson et al. [Richardson, D.C., Bottke Jr., W.F., Love, S.G., 1998. Icarus 134, 47-76] who used a large numerical code. We find that many of the features reported by them can indeed be captured by our rather simple methodology, and we discuss the reasons why some of our results differ from theirs.     

Dynamical passage to approximate equilibrium shapes for spinning, gravitating rubble asteroids

Many asteroids are thought to be particle aggregates held together principally by self-gravity. Here we study — for static and dynamical situations — the equilibrium shapes of spinning asteroids that are permitted for rubble piles. As in the case of spinning fluid masses, not all shapes are compatible with a granular rheology. We take the asteroid to always be an ellipsoid with an interior modeled as a rigid-plastic, cohesion-less material with a Drucker-Prager yield criterion. Using an approximate volume-averaged procedure, based on the classical method of moments, we investigate the dynamical process by which such objects may achieve equilibrium. We first collapse our dynamical approach to its statical limit to derive regions in spin-shape parameter space that allow equilibrium solutions to exist. At present, only a graphical illustration of these solutions for a prolate ellipsoid following the Drucker-Prager failure law is available [Sharma, I., Jenkins, J.T., Burns, J.A., 2005a. Bull. Am. Astron. Soc. 37, 643; Sharma, I., Jenkins, J.T., Burns, J.A., 2005b. Equilibrium shapes of ellipsoidal soil asteroids. In: García-Rojo, R., Hermann, H.J., McNamara, S. (Eds.), Proceedings of the 5th International Conference on Micromechanics of Granular Media, vol. 1. A.A. Balkema, UK; Holsapple, K.A., 2007. Icarus 187, 500-509]. Here, we obtain the equilibrium landscapes for general triaxial ellipsoids, as well as provide the requisite governing formulae. In addition, we demonstrate that it may be possible to better interpret the results of Richardson et al. [Richardson, D.C., Elankumaran, P., Sanderson, R.E., 2005. Icarus 173, 349-361] within the context of a Drucker-Prager material. The graphical result for prolate ellipsoids in the static limit is the same as those of Holsapple [Holsapple, K.A., 2007. Icarus 187, 500-509] because, when worked out, his final equations will match ours. This is because, though the formalisms to reach these expressions differ, in statics, at the lowest level of approximation, volume-averaging and the approach of Holsapple [Holsapple, K.A., 2007. Icarus 187, 500-509] coincide. We note that the approach applied here was obtained independently [Sharma, I., Jenkins, J.T., Burns, J.A., 2003. Bull. Am. Astron. Soc. 35, 1034; Sharma, I., 2004. Rotational Dynamics of Deformable Ellipsoids with Applications to Asteroids. Ph.D. thesis, Cornell University] and it provides a general, though approximate, framework that is amenable to systematic improvements and is flexible enough to incorporate the dynamical effects of a changing shape, different rheologies and complex rotational histories. To demonstrate our technique, we investigate the non-equilibrium dynamics of rigid-plastic, spinning, prolate asteroids to examine the simultaneous histories of shape and spin rate for rubble piles. We have succeeded in recovering most results of Richardson et al. [Richardson, D.C., Elankumaran, P., Sanderson, R.E., 2005. Icarus 173, 349-361], who obtained equilibrium shapes by studying numerically the passage into equilibrium of aggregates containing discrete, interacting, frictionless, spherical particles. Our mainly analytical approach aids in understanding and quantifying previous numerical simulations.     

The equilibrium of rubble-pile satellites: The Darwin and Roche ellipsoids for gravitationally held granular aggregates

Many new small moons of the giant planets have been discovered recently. In parallel, satellites of several asteroids, e.g., Ida, have been found. Strikingly, a majority of these new-found planetary moons are estimated to have very low densities, which, along with their hypothesized accretionary origins, suggests a rubble internal structure. This, coupled to the fact that many asteroids are also thought to be particle aggregates held together principally by self-gravity, motivates the present investigation into the possible ellipsoidal shapes that a rubble-pile satellite may achieve as it orbits an aspherical primary. Conversely, knowledge of the shape will constrain the granular aggregate's orbit—the closer it gets to a primary, both primary's tidal effect and the satellite's spin are greater. We will assume that the primary body is sufficiently massive so as not to be influenced by the satellite. However, we will incorporate the primary's possible ellipsoidal shape, e.g., flattening at its poles in the case of a planet, and the proloidal shape of asteroids. In this, the present investigation is an extension of the first classical Darwin problem to granular aggregates. General equations defining an ellipsoidal rubble pile's equilibrium about an ellipsoidal primary are developed. They are then utilized to scrutinize the possible granular nature of small inner moons of the giant planets. It is found that most satellites satisfy constraints necessary to exist as equilibrated granular aggregates. Objects like Naiad, Metis and Adrastea appear to violate these limits, but in doing so, provide clues to their internal density and/or structure. We also recover the Roche limit for a granular satellite of a spherical primary, and employ it to study the martian satellites, Phobos and Deimos, as well as to make contact with earlier work of Davidsson [Davidsson, B., 2001. Icarus 149, 375–383]. The satellite's interior will be modeled as a rigid-plastic, cohesion-less material with a Drucker–Prager yield criterion. This rheology is a reasonable first model for rubble piles. We will employ an approximate volume-averaging procedure that is based on the classical method of moments, and is an extension of the virial method [Chandrasekhar, S., 1969. Ellipsoidal Figures of Equilibrium. Yale Univ. Press, New Haven] to granular solid bodies.     

The spin state of 433 Eros and its possible implications

In this paper, we show that Asteroid (433) Eros is currently residing in a spin-orbit resonance, with its spin axis undergoing a small-amplitude libration about the Cassini state 2 of the proper mode in the nonsingular orbital element sinI/2exp(?Ω), where I the orbital inclination and Ω the longitude of the node. The period of this libration is ?53.4 kyr. By excluding these libration wiggles, we find that Eros' pole precesses with the proper orbital plane in inertial space with a period of ?61.4 kyr. Eros' resonant state forces its obliquity to oscillate with a period of ?53.4 kyr between ?76° and ?89.5°. The observed value of ?89° places it near the latter extreme of this cycle. We have used these results to probe Eros' past orbit and spin evolution. Our computations suggest that Eros is unlikely to have achieved its current spin state by solar and planetary gravitational perturbations alone. We hypothesize that some dissipative process such as thermal torques (e.g., the so-called YORP effect) may be needed in our model to obtain a more satisfactory match with data. A detailed study of this problem is left for future work.     

Orbital evolution of small binary asteroids

About 15% of both near-Earth and main-belt asteroids with diameters below 10 km are now known to be binary. These small asteroid binaries are relatively uniform and typically contain a fast-spinning, flattened primary and a synchronously rotating, elongated secondary that is 20-40% as large (in diameter) as the primary. The principal formation mechanism for these binaries is now thought to be YORP (Yarkovsky-O’Keefe-Radzievskii-Paddack) effect induced spin-up of the primary followed by mass loss and accretion of the secondary from the released material. It has previously been suggested (?uk, M. [2007]. Astrophys. J. 659, L57-L60) that the present population of small binary asteroids is in a steady state between production through YORP and destruction through binary YORP (BYORP), which should increase or decrease secondary’s orbit, depending on the satellite’s shape. However, BYORP-driven evolution has not been directly modeled until now. Here we construct a simple numerical model of the binary’s orbital as well the secondary’s rotational dynamics which includes BYORP and selected terms representing main solar perturbations. We find that many secondaries should be vulnerable to chaotic rotation even for relatively low-eccentricity mutual orbits. We also find that the precession of the mutual orbit for typical small binary asteroids might be dominated by the perturbations from the prolate and librating secondary, rather than the oblate primary. When we evolve the mutual orbit by BYORP we find that the indirect effects on the binary’s eccentricity (through the coupling between the orbit and the secondary’s spin) dominate over direct ones caused by the BYORP acceleration. In particular, outward evolution causes eccentricity to increase and eventually triggers chaotic rotation of the secondary. We conclude that the most likely outcome will be reestablishing of the synchronous lock with a “flipped” secondary which would then evolve back in. For inward evolution we find an initial decrease of eccentricity and secondary’s librations, to be followed by later increase. We think that it is likely that various forms of dissipation we did not model may damp the secondary’s librations close to the primary, allowing for further inward evolution and a possible merger. We conclude that a merger or a tidal disruption of the secondary are the most likely outcomes of the BYORP evolution. Dissociation into heliocentric pairs by BYORP alone should be very difficult, and satellite loss might be restricted to the minority of systems containing more than one satellite at the time.