The first science with a theoretical foundation based in mathematics was mechanics ; the underlying principles of mechanics were first delineated by Isaac Newton in his 1687 book Philosophiæ Naturalis Principia Mathematica. One of the earliest works to define applied mechanics as its own discipline was the three volume Handbuch der Mechanik written by German physicist and engineer Franz Josef Gerstner. The first seminal work on applied mechanics to be published in English was A Manual of Applied Mechanics in 1858 by English mechanical engineer William Rankine. August Föppl, a German mechanical engineer and professor, published Vorlesungen über technische Mechanik in 1898 in which he introduced calculus to the study of applied mechanics.