The Bell Aerosystems Company XLR81 was an American liquid-propellant rocket engine, which was used on the Agena upper stage. It burned UDMH and RFNA fed by a turbopump in a fuel rich gas generator cycle. The turbopump had a single turbine with a gearbox to transmit power to the oxidizer and fuel pumps. The thrust chamber was all-aluminum, and regeneratively cooled by oxidizer flowing through gun-drilled passages in the combustion chamber and throat walls. The nozzle was a titanium radiatively cooled extension. The engine was mounted on a hydraulic actuated gimbal which enabled thrust vectoring to control pitch and yaw. Engine thrust and mixture ratio were controlled by cavitating flow venturis on the gas generator flow circuit. Engine start was achieved by solid propellant start cartridge.

The RM-81 Agena was an American rocket upper stage and satellite bus which was developed by Lockheed Corporation initially for the canceled WS-117L reconnaissance satellite program. Following the division of WS-117L into SAMOS and Corona for image intelligence, and MIDAS for early warning, the Agena was later used as an upper stage, and an integrated component, for several programs, including Corona reconnaissance satellites and the Agena Target Vehicle used to demonstrate rendezvous and docking during Project Gemini. It was used as an upper stage on the Atlas, Thor, Thorad and Titan IIIB rockets, and considered for others including the Space Shuttle and Atlas V. A total of 365 Agena rockets were launched between February 28, 1959 and February 1987. Only 33 Agenas carried NASA payloads and the vast majority were for DoD programs.