Amongst other minor theorems here given it may suffice to mention the proposition that the kinetic energy imparted by the given impulses to a material system under given constraints is a maximum, and the principle of least action. All the analysis is so elegant that Sir William Rowan Hamilton said the work could be described only as a scientific poem. Lagrange remarked that mechanics was really a branch of pure mathematics analogous to a geometry of four dimensions, namely, the time and the three coordinates of the point in space; and it is said that he prided himself that from the beginning to the end of the work there was not a single diagram. At first no printer could be found who would publish the book; but Legendre at last persuaded a Paris firm to undertake it, and it was issued under the supervision of Laplace, Cousin, Legendre (editor) and Condorcet in 1788.