Electromagnetism followed a reverse path compared to mechanics. In mechanics, the laws were first derived by Isaac Newton in their Galilean form. They had to wait for Albert Einstein and his special relativity theory to take a relativistic form. Einstein has then allowed a generalization of Newton's laws of motion to describe the trajectories of bodies moving at relativistic speeds. In the electromagnetic frame, James Clerk Maxwell directly derived the equations in their relativistic form, although this property had to wait for Hendrik Lorentz and Einstein to be discovered.