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Ernst discovered what we know know as the Mach Bands. This is an optical illusion that we see when the color gradient fades form dark to light. Our eyes insert lines to try to make edges.
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Ernst discovered that the inner ear helped humans with balance. He figured out that the changes in fluids in the inner ear is what helps us with balance.
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Inside this book Ernst gave details of his scientific reasoning and the fundamentals of mechanics. This book is one of Ernst's most prominent contributions.
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This is arguably Mach's biggest contribution. Albert Einstein gave this theory as one of his influences for his theory of relativity. This was Mach's theory of inertia. He concluded that all masses in the universe are somehow connected. Einstein named Mach's theory "Mach's Principle" after his death.
https://www.youtube.com/watch?v=cPEwkMHRjZU&t=20s