= The Clohessy-Wiltshire Equations of Relative Motion by MIT OpenCourseWare
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https://ocw.mit.edu/courses/16-346-astrodynamics-fall-2008/e4f0632a9f1c98f7e9b25492e1a30eb1_lec_26.pdf
Lecture 26 of 16.346 Astrodynamics, Fall 2008. Pages 1–2 derive the linear relative-motion equations with radial coordinate xi and along-track coordinate eta; page 3 gives their solution using a different axis convention. Institutional attribution follows the PDF masthead.
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