RK4: k₁=f(y), k₂=f(y+h/2·k₁) k₃=f(y+h/2·k₂), k₄=f(y+h·k₃) y_{n+1} = y_n + h/6(k₁+2k₂+2k₃+k₄) F = -GM/r² (gravity) Error: O(h⁴) per step, O(h⁴) global