I'm not a scientist, but do teach science.
Uranium decay is a fascinating process with a lot going on. When Sagan talks about a stream of helium nuclei, he is referring to alpha particles. These are helium four nuclei, which means they contain two protons and two neutrons. They are emitted from the nucleus of a uranium atom during radioactive decay.
The missing electrons are an interesting part of this. When an atom of uranium ejects an alpha particle, it loses two protons, but its electrons remain for a moment, making the new atom highly ionized. Over time, the uranium ion will stabilize as it interacts with other atoms. The ejected alpha particle, which is just a bare helium nucleus, will also eventually capture two free electrons from the environment and become a neutral helium atom.
Uranium does not completely break apart into helium nuclei. Instead, it undergoes a slow process where each atom decays step by step. When uranium 238 undergoes alpha decay, it does not vanish but transforms into thorium 234. Thorium is also radioactive and will continue decaying through a long chain of transformations, eventually becoming lead, which is stable. So uranium is not simply breaking into helium, it is gradually changing into different elements.
Half-life plays an important role in this process. The half-life of uranium 238 is about 4.5 billion years, meaning that if you started with a pure chunk of uranium, after that time only half of it would still be uranium. The other half would have decayed into different elements. But it is not just turning into helium. While each decay event emits a helium nucleus, the uranium itself is transforming into new elements along the way. Over long periods, the uranium will be replaced with a mixture of lead and other decay products, while the helium gas may escape into the environment.
The danger of alpha radiation comes from how it interacts with living tissue. Alpha particles are highly ionizing, which means they can cause severe damage at a cellular level. However, they do not penetrate very far. A sheet of paper or even human skin can block them. The real risk comes from inhaling or ingesting radioactive materials. If uranium dust or other alpha-emitting particles enter the body, they can directly damage DNA, increasing the risk of cancer and other health problems. That is why uranium and similar materials are dangerous if they are inhaled or ingested but not as much of a threat when they are simply sitting in solid form.
Uranium decay is a gradual process where atoms lose helium nuclei one by one, transforming into different elements over time. Half-life describes how long this process takes, with only a fraction of the uranium decaying in a given time period. Alpha radiation is dangerous inside the body but does not travel far outside of it.
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Uranium-238 - Wikipedia:https://en.wikipedia.org/wiki/Uranium-238
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Uranium Decay Series - ScienceDirect Topics:https://www.sciencedirect.com/topics/chemistry/uranium-decay-series
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The Timeline of Radioactive Decay for Uranium-238 - IET:https://www.theiet.org/media/8813/radioactive-decay-rate-of-uranium-238.pdf
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Decay Chain - Wikipedia:https://en.wikipedia.org/wiki/Decay_chain