There are only two essential nodes in the circuit, and they are labeled v and voc. The node at the top of the 20 V supply is not an essential node since its potential with respect to the reference node is fixed by that voltage source. Effectively that node's potential is already "solved".
Since there are only two essential nodes, only two node equations are required in order to completely analyze the circuit.
The KCL equations that were written are node equations. They sum the currents at a given node. Look at them term by term and you should recognize the currents for each branch leading into a given node.