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The majority of asteroids (majority meaning "more than half") of the asteroids are in a poorly-defined area known as the asteroid belt between the orbits of Mars and Jupiter. That's about - and I really do mean "ABOUT" - 2AU to 4AU from the Sun.

If over half of the asteroids are in the asteroid belt, that still leaves a large number of asteroids that are NOT in the asteroid belt, and in fact, asteroids are found almost anywhere in the solar system. And in fact, the month doesn't go by that we don't discover new asteroids just passing VERY close to the Earth. There was one last week (as I write this in July, 2012) that passed within 20,000 miles of the Earth; as close as the geosynchronous orbit satellites!

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