Newton's laws of motion to forces is a straight line at a constant speed. Newton's first law is often referred to as the "law of inertia". Thus, a condition necessary for the uniform motion of a particle relative to an inertial reference frame is that the total net force acting on it is zero. In this sense, the first law can be restated as: Newton's first and second laws are valid only in an inertial reference frame. Any reference frame that is in uniform motion with respect to an inertial frame is also an inertial frame, i.e. Galilean invariance or the principle of Newtonian
Kepler's laws of planetary motion law" is what became the Second Law in the set of three; but Kepler did himself not privilege it in that way. Johannes Kepler published his first two laws about planetary motion in 1609, having found them by analyzing the astronomical observations of Tycho Brahe. Kepler's third law was published in 1619. Kepler had believed in the Copernican model of the solar system, which called for circular orbits, but he could not reconcile Brahe's highly precise observations with a circular fit to Mars' orbit—Mars coincidentally having the highest eccentricity of all planets except Mercury. His first law reflected this discovery.