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Not coincidentally given their distance from Earth, the five moons were discovered in the order of their sizes.

The two largest, Titania and Oberon, were discovered by William Herschel in 1787, six years after he first identified the parent planet Uranus. The next largest pair, Ariel and Umbriel, were found in 1851 by William Lassell. The fifth moon discovered was Miranda in 1948, by Gerard Kuiper.

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