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In fact, the Earth is not a perfect sphere. It's poles are flattened and its equator bulges outwards. This is due to centripetal force as the planet spins on its axis.

However, setting this fact aside for a moment, Earth is spherical in shape because its gravity is pulling everything towards the center of the planet. This pull is spread equally across its entire surface. Because all of this mass cannot share the same space, gravity forces it into the most efficient configuration, which is a sphere. Any object of sufficient mass will over time become spherical in shape.

Formation of Earth

When the leftover elements from the sun's creation scattered throughout what is now our solar system, individual particles started attracting each other together with gravity. As more and more particles gathered, their gravity compressed them into a shape which allowed them to occupy as small of a space as possible. In essence, a sphere.

Another way of saying this is that the Earth's mass reached a point where its internal gravitational forces overcame any other rigid forces that might have kept the Earth in a non-spherical shape.

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