It was stated that a satellite with negative total energy is in a bound orbit, whereas one with zero or positive total energy is in an unbounded orbit. Why is this true? What choice for gravitational potential energy was made such that this is true?

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Chapter13: Gravitation
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It was stated that a satellite with negative total energy is in a bound orbit, whereas one with zero or positive total energy is in an unbounded orbit. Why is this true? What choice for gravitational potential energy was made such that this is true?

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