This is determined by the interplay of force of gravity, inertia, and the formation of the solar system. A lighter object will orbit a heavier object: all the planets are much smaller than the sun, and each planet’s moons are smaller than that planet. The reason that, for example, Earth does not orbit the much larger Jupiter, is due to the large distance between them that existed since the planets’ formation, which makes the gravitation force between them too weak for Jupiter to be able to capture Earth to make it its satellite.
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