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,
Planet hydrostatic equilibrium (to be rounded under its own gravity), but not enough to sustain core fusion like a star. By definition, all planets are "planetary-mass objects", but the purpose of this term is to refer to objects that do not conform to typical expectations for a planet. These include dwarf planets, which are rounded by their own gravity but not massive enough to clear their own orbit, the larger moons, and free-floating planemos, which may have been ejected from a system (rogue planets) or formed through cloud-collapse rather than accretion (sometimes called sub-brown dwarfs). A dwarf planet is a planetary-mass