Moons of Uranus these five, Titania, is 1,578 km in diameter and the eighth-largest moon in the Solar System, and about one-twentieth the mass the Earth's Moon. The orbits of the regular moons are nearly coplanar with Uranus's equator, which is tilted 97.77° to its orbit. Uranus's irregular moons have elliptical and strongly inclined (mostly retrograde) orbits at large distances from the planet. William Herschel discovered the first two moons, Titania and Oberon, in 1787, and the other three ellipsoidal moons were discovered in 1851 by William Lassell (Ariel and Umbriel) and in 1948 by Gerard Kuiper (Miranda). These five have planetary mass,
Formation and evolution of the Solar System further hypothesized that the Mars-sized object may have formed at one of the stable Earth–Sun Lagrangian points (either or ) and drifted from its position. The moons of trans-Neptunian objects Pluto (Charon) and Orcus (Vanth) may also have formed by means of a large collision: the Pluto–Charon, Orcus–Vanth and Earth–Moon systems are unusual in the Solar System in that the satellite's mass is at least 1% that of the larger body. Astronomers estimate that the Solar System as we know it will not change drastically until the Sun has fused almost all the hydrogen fuel in its core into helium,