According to Charles Coulston Gillispie, inertia "entered science as a physical consequence of Descartes ' geometrization of space-matter, combined with the immutability of God." The first physicist to completely break away from the Aristotelian model of motion was Isaac Beeckman in 1614. The term "inertia" was first introduced by Johannes Kepler in his Epitome Astronomiae Copernicanae (published in three parts from 1617 to 1621); however, the meaning of Kepler's term (which he derived from the Latin word for "idleness" or "laziness") was not quite the same as its modern interpretation. Kepler defined inertia only in terms of resistance to movement, once again based on the presumption that rest was a natural state which did not need explanation. It was not until the later work of Galileo and Newton unified rest and motion in one principle that the term "inertia" could be applied to these concepts as it is today.