Geocentric model knew about Tusi's work or that of the Maragha school. Not all Greeks agreed with the geocentric model. The Pythagorean system has already been mentioned; some Pythagoreans believed the Earth to be one of several planets going around a central fire. Hicetas and Ecphantus, two Pythagoreans of the 5th century BC, and Heraclides Ponticus in the 4th century BC, believed that the Earth rotated on its axis but remained at the center of the universe. Such a system still qualifies as geocentric. It was revived in the Middle Ages by Jean Buridan. Heraclides Ponticus was once thought to have proposed
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