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Discovery and designation
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| Discovered by | Takeshi Urata and Shigeru Inoda |
| Discovery site | Karasuyama |
| Discovery date | January 14, 1986 |
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Designations
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| MPC designation | 3902 |
| Named after | Minamoto no Yoritomo |
| Alternate name(s) | 1986 AL |
| Epoch May 14, 2008 | |
| Ap | 3.4449509 |
| Peri | 3.0022035 |
| Eccentricity | 0.0686733 |
| Orbital period | 2114.0026426 |
| Mean anomaly | 173.87167 |
| Inclination | 15.57326 |
| Longitude of ascending node | 293.88409 |
| Argument of peri | 346.87233 |
| Geometric albedo | 0.0631 |
| Absolute magnitude (H) | 11.40 |
3902 Yoritomo (1986 AL) is an outer main-belt asteroid discovered on January 14, 1986 by Takeshi Urata and Shigeru Inoda at Karasuyama.
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