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Centaur

The Centaur was developed by NASA's Lewis Research Center. The US's first high-energy, liquid hydrogen/liquid oxygen propelled rocket, the Centaur was first used, atop an Atlas booster, in 1966 to launch Surveyor 1 to a soft-landing on the moon.

References:

Voyager 2 (Miscellaneous)
Titan IIIE-Centaur (Miscellaneous)
Surveyor 3 (Miscellaneous)
Atlas Centaur LV-3C (Miscellaneous)
Centuri (Miscellaneous)
Voyager 2 is launched on August 20, 1977, from Cape Canaveral aboard a Titan IIIE-Centaur rocket. (Picture)
A Titan IIIE-Centaur launches Viking 2 towards Mars on September 9, 1975. (Picture)

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