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Newton summarized his discoveries in terrestrial and celestial mechanics in his Philosophiae naturalis principia mathematica [mathematical principles of natural philosophy] (1687), one of the greatest milestones in the history of science. In it he showed how his principle of universal gravitation provided an explanation both of falling bodies on the earth and of the motions of planets, comets, and other bodies in the heavens. The first part of the Principia is devoted to dynamics and includes Newton's three famous laws of motion; the second part to fluid motion and other topics; and the third part to the system of the world, i.e., the unification of terrestrial and celestial mechanics under the principle of gravitation and the explanation of Kepler's laws of planetary motion. Although Newton used the calculus to discover his results, he explained them in the Principia by use of older geometric methods.