The theory of impetus is an auxiliary or secondary theory of Aristotelian dynamics, put forth initially to explain projectile motion against gravity. It was introduced by John Philoponus in the 6th century, and elaborated by Nur ad-Din al-Bitruji at the end of the 12th century. The theory was modified by Avicenna in the 11th century and Abu'l-Barakāt al-Baghdādī in the 12th century, before it was later established in Western scientific thought by Jean Buridan in the 14th century. It is the intellectual precursor to the concepts of inertia, momentum and acceleration in classical mechanics.