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201 Penelope is a large main belt asteroid that was discovered by Austrian astronomer Johann Palisa on August 7, 1879 in Pola. The asteroid is named after Penelope, the wife of Odysseus in Homer's The Odyssey.

Based upon the spectra of this object, it is classified as a M-type asteroid, indicating it may be metallic in composition.<ref name="Pravec2012"/> It may be the remnant of the core of a larger, differentiated asteroid. Near infrared absorption features indicate the presence of variable amounts of low-iron, low-calcium orthopyroxenes on the surface. Trace amounts of water is detected with a mass fraction of about 0.13–0.15 wt%.<ref name="Hardersen1983"/> It has an estimated size of around 88 km.<ref name="Pravec2012"/> With a rotation period of 3.74 hours, it is the fastest rotating asteroid larger than 50 km in diameter.<ref name="SBDB"/>


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