Naturally-occurring craters are typically caused by debris from space that survives to impact the surface of a planet.
Planets with an atmosphere will have fewer craters because debris burns up before it can reach the surface.
Fast moving debris entering Earth’s atmosphere must withstand intense heat caused by friction with the air.
Most or all of the debris burns away before it can reach the planet and make a crater.
Two reasons.
First, we have a very large moon. The moon intercepts a lot of asteroids for us. Either taking the hit for us, or pulling the asteroid away with it’s gravity.
Second, we have weather. When an asteroid hits the moon, that crater stays there essentially forever. When as asteroid hits the earth, that crater is worn away over time by wind, water, and animals.
Earth has a much thicker atmosphere than Mercury or the Moon (or Mars) so objects coming close have to deal with more friction when entering our atmosphere than these others’, meaning more of them burn up – either they burn up entirely or partially, meaning a smaller impact object and a smaller crater as a result.
Earth’s surface is also about 70% water so a majority of objects will impact over the oceans so we wouldn’t be able to see the craters anyway (plus the water resistance will slow them down, again reducing the size of any craters).
Earth is also a very geologically active planet; the crust is divided into different tectonic plates which move against one another (causing earthquakes and boundaries where they meet – hence the ring of fire around the Pacific Plate). Over time a lot of the crust gets ‘recycled’ due to this movement of plates so some of the older craters will disappear.
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