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The massive hunk of rock posed no threat, but is the closest an asteroid of its size has come to Earth in a long time.
The last time Eros got up close and personal was 37 years ago in 1975. Its next visit won't be until 2056.
Stargazers who missed the fly-by can now aim their telescopes in the direction of constellations Leo, Sextans and Hydra, where the asteroid will be until February 10, according to researchers.
Eros orbits the Sun every 642.9 days and rotates once every five hours and 16 minutes.
It was discovered in 1898 by Gustav Witt in Germany and Auguste Charlois in France.
A smaller bus-sized asteroid passed even closer to Earth last week.
Asteroid 2012 BX34, came within 36,750miles of Earth at about 3.30pm on Friday, according to NASA's Asteroid Watch programme.
Read more: http://www.dailymail.co.uk/sciencet...-hurtles-safely-past-Earth.html#ixzz1lF2Mbj6k
