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That would depend on the individual moon or asteroid in question, but generally speaking, asteroids are smaller.

As the diameter of Ceres is a bit less than 1,000 km, sixteen moons are larger than any of the asteroids, but, after that both moons and asteroids fall into all ranges of sizes from tiny to the diameter of Ceres.Are171887 (talk) 02:25, August 10, 2015 (UTC)