Tidal heating occurs through the tidal friction processes: orbital and rotational energy are dissipated as heat in the crust of the moons and planets involved. Io

Io (moon)

Io ) is the innermost of the four Galilean moons of the planet Jupiter and, with a diameter of , the fourth-largest moon in the Solar System. It was named after the mythological character of Io, a priestess of Hera who became one of the lovers of Zeus....

, a moon of Jupiter

Jupiter

Jupiter is the fifth planet from the Sun and the largest planet within the Solar System. It is a gas giant with mass one-thousandth that of the Sun but is two and a half times the mass of all the other planets in our Solar System combined. Jupiter is classified as a gas giant along with Saturn,...

, is the most volcanically active body in the solar system

Solar System

The Solar System consists of the Sun and the astronomical objects gravitationally bound in orbit around it, all of which formed from the collapse of a giant molecular cloud approximately 4.6 billion years ago. The vast majority of the system's mass is in the Sun...

, with no impact craters surviving on its surface. This is because the tidal force of Jupiter deforms Io; the eccentricity

Orbital eccentricity

The orbital eccentricity of an astronomical body is the amount by which its orbit deviates from a perfect circle, where 0 is perfectly circular, and 1.0 is a parabola, and no longer a closed orbit...

 of Io's orbit (a consequence of its participation in a Laplace resonance

Orbital resonance

In celestial mechanics, an orbital resonance occurs when two orbiting bodies exert a regular, periodic gravitational influence on each other, usually due to their orbital periods being related by a ratio of two small integers. Orbital resonances greatly enhance the mutual gravitational influence of...

) causes the height of Io's tidal bulge to vary significantly (by up to 100 m) over the course of an orbit; the friction from this tidal flexing then heats up its interior. A similar but weaker process is theorised to have melted the lower layers of the ice surrounding the rocky mantle of Jupiter's next large moon, Europa

Europa (moon)

Europa Slightly smaller than Earth's Moon, Europa is primarily made of silicate rock and probably has an iron core. It has a tenuous atmosphere composed primarily of oxygen. Its surface is composed of ice and is one of the smoothest in the Solar System. This surface is striated by cracks and...

. Saturn's moon Enceladus

Enceladus (moon)

Enceladus is the sixth-largest of the moons of Saturn. It was discovered in 1789 by William Herschel. Until the two Voyager spacecraft passed near it in the early 1980s very little was known about this small moon besides the identification of water ice on its surface...

 is similarly thought to have a liquid water ocean beneath its icy crust. The water vapor geysers

Cryovolcano

A cryovolcano is a volcano that erupts volatiles such as water, ammonia or methane, instead of molten rock. Collectively referred to as cryomagma or ice-volcanic melt, these substances are usually liquids and form plumes, but can also be in vapour form...

which eject material from Enceladus are thought to be powered by friction generated within this moon's shifting ice crust.