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We measure the mass of a modestly irradiated giant or "warm Jupiter," KOI-94d, in order to calculate its density. We wish to determine whether this planet, which is in a 22 day orbit and receives 107 times as much incident flux as the Earth, is bloated like "hot Jupiters" or as dense as our own Jupiter. In addition to its warm Jupiter, KOI-94 hosts at least 3 smaller planets, all of which were detected through transits by the Kepler Mission. This presents the opportunity to characterize a multi-planet system and to test dynamic stability and formation theory through observations of the masses and orbital elements of these planets. With 26 radial velocity measurements of KOI-94 from the W. M. Keck Observatory/HIRES, we measure the mass of the giant planet and upper limits to the masses of the three smaller planets. Transit timing variations will allow us to hone the mass measurements of the three smaller planets. Using the KOI-94 system and all other planets with published values for both mass and radius, we establish two fundamental planes for exoplanets that relate their mass, incident flux, and radius from a few Earth masses up to ten Jupiter masses: log(Rp/RE) = 0.007 + 0.53 log(M/ME) - 0.001 log(F/[erg/s/cm^2]) for Mp < 150ME; log(Rp/RE) = 0.67 - 0.036 log(M/ME) + 0.06 log(F/[erg/s/cm^2]) for Mp > 150ME. We also solve these planes in density-mass-flux space: log(ρp/[g/cm^3]) = 0.69 - 0.57 log(M/ME) + 0.02 log(F/[erg/s/cm^2]) for Mp < 150ME; log(ρp/[g/cm^3]) = -1.23 + 1.10 log(M/ME) - 0.18 log(F/[erg/s/cm^2]) for Mp > 150ME.
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