Larger moons have enough mass to gravitationally pull themselves into a spherical shape, and smaller ones do not.
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You approximate the irregular shape with many small regular figure, for example, long and thin rectangles.
selecting a hole-up site.
selecting a hold up site
The center of gravity of an irregular shape can be measured, for example by hanging the object from two different points (points of the object), then watching where the lines (from the point where it is hung up downwards) intersect.If you know details about the shape, the center of gravity can also be calculated by integration. Basically this means dividing (through calculation) the shape into small pieces, and adding up the results.
By integration, which basically means dividing the object into small pieces.