Io is in orbital resonance with Europa and Ganymede, which causes its orbit to be slightly elliptical. Due to Jupiter's immense gravitational field strength, Io experiences a very high changing tidal force, which causes a changing stress and strain on the entire structure of Io, which causes tidal heating due to friction. This makes it by far the most volcanically active body in the Solar System. Its surface is regularly completely resurfaced, and is covered in sulfur compounds.