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In 1509 Copernicus developed the theory that the sun and not the Earth was the centre of the universe and that all the planets revolve around the sun in circles. Kepler improved on the theory, stating that circular orbits were special cases, and that most orbits were elliptical, and he also discovered the laws governing the motion of the planets.
On the basis of Kepler's work, Newton developed the theory of gravity. The methods of calculation and observation were continuously improved to check the congruence of theory and reality.
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