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Mathematical Principles of Natural Philosophy, often referred to as simply the Principia, is a work in three books by Isaac Newton, in Latin, first published 5 July 1687. After annotating and correcting his personal copy of the first edition, Newton published two further editions, in 1713 and 1726. In Principia, Isaac Newton laid out in mathematical terms the principles of time, force, and motion that have guided the development of modern physical science. Even after more than three centuries and the revolutions of Einsteinian relativity and quantum mechanics, Newtonian physics continues to account for many of the phenomena of the observed world, and Newtonian celestial dynamics is used to determine the orbits of our space vehicles.