Modern cosmology developed along tandem tracks of theory and observation. In 1916, Albert Einstein published his theory of general relativity, which provided a unified description of gravity as a geometric property of space and time. At the time, Einstein believed in a static universe, but found that his original formulation of the theory did not permit it. This is because masses distributed throughout the universe gravitationally attract, and move toward each other over time. However, he realized that his equations permitted the introduction of a constant term which could counteract the attractive force of gravity on the cosmic scale. Einstein published his first paper on relativistic cosmology in 1917, in which he added this cosmological constant to his field equations in order to force them to model a static universe. The Einstein model describes a static universe; space is finite and unbounded (analogous to the surface of a sphere, which has a finite area but no edges). However, this so-called Einstein model is unstable to small perturbations—it will eventually start to expand or contract. It was later realized that Einstein's model was just one of a larger set of possibilities, all of which were consistent with general relativity and the cosmological principle. The cosmological solutions of general relativity were found by Alexander Friedmann in the early 1920s. His equations describe the Friedmann–Lemaître–Robertson–Walker universe, which may expand or contract, and whose geometry may be open, flat, or closed.