Philosophiæ Naturalis Principia Mathematica (English: The Mathematical Principles of Natural Philosophy), often called simply the Principia, is a book by Sir Isaac Newton that expounds Newton's laws of motion and his law of universal gravitation. The Principia is written in Latin and comprises three volumes, and was authorized (imprimatur) by Samuel Pepys, then-President of the Royal Society on 5 July 1686 and first published in 1687. After annotating and correcting his personal copy of the first edition, Newton published two further editions, one of 1713 with errors in the 1687 version corrected, and another, improved one of 1726.

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