This paper presents the exact dimensionless equations of motion and the necessary conditions for the computation of the optimal trajectories of a hypervelocity vehicle flying through a non-rotating spherical planetary atmosphere. Numerical solution is then presented for the case when the vehicle makes several passages through the atmosphere near the perigee of its orbit. While the orbit is slowly contracting, aerodynamic maneuver is performed to obtain the maximum plane change. Several plots were presented to show the optimal variations of the lift coefficient and the bank angle and the various elements of the orbit.