Express each of the following in kilograms:
$(a)$ $5.84 \times 10^{-3} \,mg$
$(b)$ $58.34 \,g$
$(c)$ $0.584 \,g$
$(d)$ $5.873 \times 10^{-21} \,g$

To convert units to kilograms $(kg)$,we use the following conversion factors:
$1 \,g = 10^{-3} \,kg$
$1 \,mg = 10^{-6} \,kg$
$(a)$ $5.84 \times 10^{-3} \,mg = 5.84 \times 10^{-3} \times 10^{-6} \,kg = 5.84 \times 10^{-9} \,kg$
$(b)$ $58.34 \,g = 58.34 \times 10^{-3} \,kg = 5.834 \times 10^{-2} \,kg$
$(c)$ $0.584 \,g = 0.584 \times 10^{-3} \,kg = 5.84 \times 10^{-4} \,kg$
$(d)$ $5.873 \times 10^{-21} \,g = 5.873 \times 10^{-21} \times 10^{-3} \,kg = 5.873 \times 10^{-24} \,kg$