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Ptolemy came up with an idea in which placed the earth in the center of the universe. This system was called Ptolemaic System
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Around 1530 Nicolas Copernicus laid out the Copernican system which placed the sun in the center of the universe and put all other planets in orbit around it
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Around 1665 Isaac Newtton came up with the theories of motion and gravitation
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Henry Cavendish calculated the earths density.