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Earth, Venus and Mars all have iron-rich cores that make up about half of their radius. On Earth, this is separated into a solid inner core and liquid outer core, which churns to produce our world's protective magnetic field. Above is the mantle and then the crust, where we live.
Mercury is completely different. Here the planet's core makes up about 85% of its radius, with only a thin rocky mantle and crust on top. This is what lies behind the planet's incredible density, but why its structure ended up like this isn't entirely clear. "The formation of Mercury is a major problem," says Nicola Tosi, a planetary scientist at the German Aerospace Centre in Berlin. "It's still unclear why Mercury looks like it does."