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

Abstract 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.