Beeman's algorithm  is is a method for numerically integrating ordinary differential equations, generally position and velocity, which is closely related to Verlet integration.
where x is the position, v is the velocity, a is the acceleration, t is time, and is the time-step.
A predictor-corrector variant is useful when the forces are velocity-dependent:
The velocities at time are then calculated from the positions.
The accelerations at time are then calculated from the positions and predicted velocities.