Here's the first verse and the chorus:
solid booster delta wing
heat shield gimbal ring
supersonic rapid unplanned
disassembly
canard rudder elevator
solar panel radiator
northern Mohole southern Mohole
instability
rendezvous aileron
RCS clamp-o-tron
oxidizer kerosene
and dimethyl hydrazine
chamber pressure corkscrew
rocket cockpit Eeloo
kilopascal engine failure
emergency landing
We didn't buzz the tower
we were always flying
since the sun's been shining
we didn't buzz the tower
we were on your radar
but we left a crater