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To perform a circular orbit round a planet, the object needs to attain a certain velocity at a particular distance from the planet. This is the reason why a spacecraft, after launching, will attain an elliptical orbit at the first instance. The spacecraft then needs to fire its rocket engine, usually at the apogee (遠地點), to boost it to the required velocity for a circular orbit.
Planets were formed by natural mechaisms. It was only that their velocities were not high enough for them to escape from the gravitational attraction of the sun. The chance for each of them to attain a given velocity at a certain distance from the sun is, though not impossible, quite remote.