and used the term gurutvākarṣaṇ to describe it. In the ancient Middle East, gravity was a topic of fierce debate. The Persian intellectual Al-Biruni believed that the force of gravity was not unique to the Earth, and he correctly assumed that other heavenly bodies should exert a gravitational attraction as well. In contrast, Al-Khazini held the same position as Aristotle that all matter in the Universe is attracted to the center of the Earth. Scientific revolution In the mid-16th century, various European scientists experimentally disproved the Aristotelian notion that heavier objects fall at a faster rate. In particular, the Spanish Dominican priest Domingo de Soto wrote in 1551 that bodies in free fall uniformly accelerate. De Soto may have been influenced by earlier experiments conducted by other Dominican priests in Italy, including those by Benedetto Varchi, Francesco Beato, Luca Ghini, and Giovan Bellaso which contradicted Aristotle's teachings on the fall of bodies. The mid-16th century Italian physicist Giambattista Benedetti published papers claiming that, due to specific gravity, objects made of the same material but with different masses would fall at the same speed. With the 1586 Delft tower experiment, the Flemish physicist Simon Stevin observed that two cannonballs of differing sizes and weights fell at the same rate when dropped from a tower. Finally, in the late 16th century, Galileo Galilei's careful measurements of balls rolling down inclines allowed him to firmly establish that gravitational acceleration is the same for all objects. Galileo postulated that air resistance is the reason that objects with a low density and high surface area fall more slowly in an atmosphere. In 1604, Galileo correctly hypothesized that the distance of a falling object is proportional to the square of the time elapsed. This was later confirmed by Italian scientists Jesuits Grimaldi and Riccioli between 1640 and 1650. They also calculated the magnitude of the Earth's gravity by measuring the oscillations of a pendulum. Newton's theory of gravitation In 1684, Newton sent a manuscript to Edmond Halley titled De motu corporum in gyrum ('On the motion of bodies in an orbit'), which provided a physical justification for Kepler's laws of planetary motion. Halley was impressed by the manuscript and urged Newton to expand on it, and a few years later Newton published a groundbreaking book called Philosophiæ Naturalis Principia Mathematica (Mathematical Principles of Natural Philosophy). In this book, Newton described gravitation as a universal force, and