The "Principia" was published on 5 July 1687 with encouragement and financial help from Edmond Halley. In this work, Newton stated the three universal laws of motion. Together, these laws describe the relationship between any object, the forces acting upon it and the resulting motion, laying the foundation for classical mechanics. They contributed to many advances during the Industrial Revolution which soon followed and were not improved upon for more than 200 years. Many of these advancements continue to be the underpinnings of non-relativistic technologies in the modern world. He used the Latin word "gravitas" (weight) for the effect that would become known as gravity, and defined the law of universal gravitation.