The Earth’s internal heat is due primarily to the gravitational compression of material at the Earth’s core, resulting in molten mass which circulates and drives tectonic plate movement. To a much lesser extent, the decay of radioactive isotopes also contributes.
When the planet formed, a ring of matter “accreted,” that is, gravity pulled a great deal of matter in space into a rotating mass that eventually got closer and closer together and formed a hot, tightly-knit sphere. As the outer layers of this hot little sphere cooled, a planet formed, but the core remained hot as radioactive continued to decay, letting off a great deal of heat.
For clarification, the matter from which the earth formed was more that likely part of the same enormous cloud of dust and gas from which the sun formed.
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