These arguments, and a discussion of the distinctions between absolute and relative time, space, place and motion, appear in a scholium at the end of Definitions sections in Book I of Newton's work, The Mathematical Principles of Natural Philosophy (1687) (not to be confused with General Scholium at the end of Book III), which established the foundations of classical mechanics and introduced his law of universal gravitation, which yielded the first quantitatively adequate dynamical explanation of planetary motion.