How fast do Galilean satellites spin?

Abstract

Each of the Galilean satellites, as well as most other satellites whose initial rotations have been substantialy altered by tidal dissipation, has been widely assumed to rotate synchronously with its orbital mean motion. Such rotation would require a small permanent asymmetry in the mass distribution in order to overcome the small mean tidal torque. Since Io and Europa may be substantially fluid, they may not have the strength to support the required permanent asymmetry. Thus, each may rotate at the unknown but slightly nonsynchronous rate that corresponds to zero mean tidal torque. This behavior may be observable by Galileo spacecraft imaging. It may help explain the longitudinal variation of volcanism on Io and the cracking of Europa's crust.