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This work addresses the problem of direction-of-arrival (DOA) estimation of multiple sources using short and dynamic sensor arrays. We propose to utilize compressive sensing (CS) theory to reconstruct the high-resolution spatial spectrum from a small number of spatial measurements. Motivated by the physical structure of the spatial spectrum, we model it as a sparse signal in the wavenumber-frequency domain, where the array manifold is proposed to serve as a deterministic sensing matrix. The proposed spatial CS (SCS) approach allows exploitation of the array orientation diversity (achievable via array dynamics) in the CS framework to address challenging array signal processing problems such as left-right ambiguity and poor estimation performance at endfire. The SCS is conceptually different from well-known classical and subspace-based methods because it provides high azimuth resolution using a short dynamic linear array without restricting requirements on the spatial and temporal stationarity and correlation properties of the sources and the noise. The SCS approach was shown to outperform current superresolution and orientation diversity based methods in single-snapshot simulations with multiple sources.