Which term describes a rock that orbits the Sun, typically found between Mars and Jupiter?

The term that describes a rock that orbits the Sun, typically found between Mars and Jupiter, is "asteroid." Asteroids are small, rocky bodies that are remnants from the early formation of the solar system. The region where they are predominantly found is known as the asteroid belt, which lies between the orbits of Mars and Jupiter.

Asteroids are distinct from meteoroids, which are smaller fragments that can originate from comets or asteroids and may enter the Earth's atmosphere. While planets are large celestial bodies that orbit stars, and comets are composed of ice, dust, and rocky material and often have tails when they come close to the Sun, these definitions do not apply to the specific type of rocky objects found in the asteroid belt. Thus, "asteroid" is the accurate term for this description.