The actual Orion spacecraft itself uses an Aerojet AJ10-190 engine. This is the same engine used on the space shuttle OMS system except the shuttle had 2 engines and the Orion only has 1. It’s pretty simple – the engine uses pressurized helium to force 2 different liquids into the combustion chamber. The liquids ignite on contact and the hot gas pushes out of the engine to produce thrust. It can be started and stopped many times.
The SLS rocket has 2 stages and 2 solid rocket boosters. The solid rocket boosters use solid propellant that burns to provide thrust, and the first stage uses 4 RS-25 engines (the RS-25 engines were also used on the space shuttle) and the second stage uses a single RL-10B-2 engine. Both the The RS-25 and the RL-10 engines burn liquid hydrogen and liquid oxygen to provide thrust.
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