De revolutionibus orbium coelestium by Nicolaus Copernicus, published in 1543, presented the first mathematically predictive heliocentric model of a planetary system. 17th-century successors Galileo Galilei, Johannes Kepler, and Sir Isaac Newton developed an understanding of physics which led to the gradual acceptance of the idea that the Earth moves around the Sun and that the planets are governed by the same physical laws that governed Earth.