Geocentric model they also appear to revolve around Earth about once per day. The stars appeared to be fixed on a celestial sphere rotating once each day about an axis through the geographic poles of Earth. Second, Earth seems to be unmoving from the perspective of an earthbound observer; it feels solid, stable, and stationary. Ancient Greek, ancient Roman, and medieval philosophers usually combined the geocentric model with a spherical Earth, in contrast to the older flat Earth model implied in some mythology. The ancient Jewish Babylonian uranography pictured a flat Earth with a dome-shaped, rigid canopy called the firmament placed over
Geocentric model 1631). The change from circular orbits to elliptical planetary paths dramatically improved the accuracy of celestial observations and predictions. Because the heliocentric model devised by Copernicus was no more accurate than Ptolemy's system, new observations were needed to persuade those who still adhered to the geocentric model. However, Kepler's laws based on Brahe's data became a problem which geocentrists could not easily overcome. In 1687, Isaac Newton stated the law of universal gravitation, described earlier as a hypothesis by Robert Hooke and others. His main achievement was to mathematically derive Kepler's laws of planetary motion from the law of gravitation,