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Just a theory as studies are still being performed... Mercury is thought to be one of the few planets with a liquid core. It's proximity to the sun means that it undergoes 'tidal' forces. These tidal forces pull on the crust of the planet, causing fractures in the crust similiar to those on Titan. This shifting of the crust (rise & fall) leads to scarps, cliffs, rifts, and escarpments. Just theory at this point.
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