Albert Einstein 's theory of special relativity, as proposed in his 1905 paper entitled " On the Electrodynamics of Moving Bodies ", was built on the understanding of inertial reference frames developed by Galileo, Huygens and Newton. While this revolutionary theory did significantly change the meaning of many Newtonian concepts such as mass, energy, and distance, Einstein's concept of inertia remained at first unchanged from Newton's original meaning. However, this resulted in a limitation inherent in special relativity: the principle of relativity could only apply to inertial reference frames. To address this limitation, Einstein developed his general theory of relativity ("The Foundation of the General Theory of Relativity", 1916), which provided a theory including noninertial (accelerated) reference frames.