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 Say, “If there were settled, on earth, angels walking about in peace and quiet, We should certainly have sent them down from the heavens an angel for a messenger.”

The argument is that if angels inhabited this
earth, an angel from heaven could be sent down as a
messenger to them, as they could mutually understand
each other, and the Message of Allah could be explained
without difficulty.
But the earth is inhabited by men, and the men
themselves are divided into races, or groups, or nations.
To each Group is sent a prophet from among their
brethren: to ‘Ad, their brother Hud (11:50); to Thamud,
their brother Salih (11:61): and so on.
As a matter of fact, with wicked men, constituted as they
are, the appearance of an angel causes disturbance and
an unseemly riot, as in the case of the angels that came
to Lut (11:77-80).
In any case they cannot carry out an effective mission
among men (6:8-9).

References:

Yusuf Ali, Abdullah. Translation and Commentary of the Quran. (surah 17 verse 95)Microsoft Word – 017 Bani Israel.doc (quran4u.com)

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