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How would I find the final positions and velocities of two bodies given the initial positions and velocities of both objects, the masses of both objects, and some force law $f(r)$, which is some function of distance $r$? I understand one way to approximate the final positions and velocities is using a simulation that uses time step increments, but how would I calculate the final positions and velocities of two bodies without using time step increments? How would I calculate the final positions and velocities by hand?

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You solve Newton's, Lagrange's or Hamilton equations which leads to a system of ordinary differential equations with the given initial positions and velocities as initial conditions. For the two-body problem, the solution can often be found analytically by using conservation laws (energy, momentum, angular momentum, ...).

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