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The Earth has two sources of internal heat. One is the heat of accretion, which is heat converted from gravitational energy as the materials which formed the Earth fell together under gravity in the early Solar System. This heat is now estimated to make up about 20% of the total heat flow from the Earth’s interior. That fact is an indication of how long it has taken the Earth to vent this heat to space
The other source of heat is the decay of radioactive isotopes of uranium,
thorium and potassium, incorporated into the Earth at its accretion. This
radiogenic heat is the principal explanation of why the Earth’s interior
is still so hot after billions of years. Without radiogenic heat the
Earth would by now have cooled down to the point where the core would
probably be solid.