Several theories have been posited to explain the formation of binary-asteroid systems. Many systems have significant macro-porosity (a "rubble-pile" interior). The satellites orbiting large main-belt asteroids such as 22 Kalliope, 45 Eugenia or 87 Sylvia may have formed by disruption of a parent body after impact or fission after an oblique impact. Trans-Neptunian binaries may have formed during the formation of the Solar System by mutual capture or three-body interaction. Near-Earth asteroids, which orbit in the inner part of the Solar System, most likely form by spin-up and mass shedding,4 likely as a result of the YORP effect. Numerical simulations suggest that when solar energy spins a “rubble pile” asteroid to a sufficiently fast rate by the YORP effect, material is thrown from the asteroid's equator.5 This process also exposes fresh material at the poles of the asteroid.67
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