Earth about under the oceans to for the continents. The crust and the cold, rigid, top of the upper mantle are collectively known as the lithosphere, and it is of the lithosphere that the tectonic plates are composed. Beneath the lithosphere is the asthenosphere, a relatively low-viscosity layer on which the lithosphere rides. Important changes in crystal structure within the mantle occur at below the surface, spanning a transition zone that separates the upper and lower mantle. Beneath the mantle, an extremely low viscosity liquid outer core lies above a solid inner core. The Earth's inner core might rotate at a
Structure of the Earth with crystalline solids at pressures and temperatures characteristic of the Earth's deep interior. The force exerted by Earth's gravity can be used to calculate its mass. Astronomers can also calculate Earth's mass by observing the motion of orbiting satellites. Earth’s average density can be determined through gravimetric experiments, which have historically involved pendulums. The mass of Earth is about . The structure of Earth can be defined in two ways: by mechanical properties such as rheology, or chemically. Mechanically, it can be divided into lithosphere, asthenosphere, mesospheric mantle, outer core, and the inner core. Chemically, Earth can be divided into