Blue Origin Reaches Another Milestone: Reusable Rocket Launches and Lands Safely

"Try balancing a pencil on the tip of your finger. Now try it with a broomstick. The broomstick is simpler because its greater moment of inertia makes it easier to balance. We solved the inverted pendulum problem on New Shepard with an engine that dynamically gimbals to balance the vehicle as it descends."