Geocentric model that both Venus and Mercury went around the Sun rather than the Earth, but this is no longer accepted. Martianus Capella definitely put Mercury and Venus in orbit around the Sun. Aristarchus of Samos was the most radical. He wrote a work, which has not survived, on heliocentrism, saying that the Sun was at the center of the universe, while the Earth and other planets revolved around it. His theory was not popular, and he had one named follower, Seleucus of Seleucia. In 1543, the geocentric system met its first serious challenge with the publication of Copernicus' "De revolutionibus orbium
Mathematical physics Having introduced experimentation, Galileo then refuted geocentric cosmology by refuting Aristotelian physics itself. Galilei's 1638 book "Discourse on Two New Sciences" established the law of equal free fall as well as the principles of inertial motion, founding the central concepts of what would become today's classical mechanics. By the Galilean law of inertia as well as the principle of Galilean invariance, also called Galilean relativity, for any object experiencing inertia, there is empirical justification for knowing only that it is at "relative" rest or "relative" motion—rest or motion with respect to another object. René Descartes adopted Galilean principles and developed