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No, it is an accretion of matter that never 'formed' into a planet. You could imagine the early solar system as one giant asteroid belt (well, it began as a dust and gas cloud, but you get the picture) which gradually clumped together into larger and larger pieces to form the current planets - the asteroid belt we see today just never formed into a planet (though parts of it are always coming out of orbit to add to other planets). I think the reason for why it never properly formed a planet is that Jupiter has such a strong gravitational force that it is stopping it from doing so.
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