how did it originate?
It might have formed from an accretion disc or subnebula; a disc of gas and dust that either existed around Uranus for some time after its formation or was created by the giant impact that most likely gave Uranus its large obliquity.
Titania (moon)
Titania is thought to have formed from an accretion disc or subnebula; a disc of gas and dust that either existed around Uranus for some time after its formation or was created by the giant impact that most likely gave Uranus its large obliquity. 
who discovered titania? William Herschel. which planet does it orbit? Uranus.
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Titania (moon) [SEP] Origin and evolution
Titania is thought to have formed from an accretion disc or subnebula; a disc of gas and dust that either existed around Uranus for some time after its formation or was created by the giant impact that most likely gave Uranus its large obliquity. The precise composition of the subnebula is not known; however, the relatively high density of Titania and other Uranian moons compared to the moons of Saturn indicates that it may have been relatively water-poor. Significant amounts of nitrogen and carbon may have been present in the form of carbon monoxide and N instead of ammonia and methane.