Use a reference frame moving with Jupiter, neglect the spacecraft's effect on the planet and neglect the Sun during the short encounter. The Newtonian central force makes the orbit planar and conserves the angular momentum . In plane polar coordinates, the kinetic energy is . Choosing zero gravitational potential energy at infinity gives
The terms are respectively radial kinetic energy, transverse kinetic energy, and attractive gravitational potential energy. The second term is often combined with the third into the radial effective potential. Far from Jupiter,
Here is the perpendicular impact parameter of the incoming asymptote, not the eventual periapsis distance.

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