The latest asteroid to approach the earth (1998 QE2) has its own moon.
The asteroid will be visible in an amateur telescope (except for the smallest ones), the moon will not be. The closest approach will be about 5PM Eastern Time (US/Canada) today (May 31, 2013). It will keep a healthy distance from the earth of about 6 million kilometers, so a collision will not occur.
NASA released this article yesterday....
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