Copernican heliocentrism is the astronomical model developed by Nicolaus Copernicus and published in 1543. This model positioned the Sun at the center of the Universe, motionless, with Earth and the other planets orbiting around it in circular paths, modified by epicycles, and at uniform speeds. The Copernican model displaced the geocentric model of Ptolemy that had prevailed for centuries, which had placed Earth at the center of the Universe. Although he had circulated an outline of his own heliocentric theory to colleagues sometime before 1514, he did not decide to publish it until he was urged to do so later by his pupil Rheticus. Copernicus's challenge was to present a practical alternative to the Ptolemaic model by more elegantly and accurately determining the length of a solar year while preserving the metaphysical implications of a mathematically ordered cosmos. Thus, his heliocentric model retained several of the Ptolemaic elements, causing inaccuracies, such as the planets' circular orbits, epicycles, and uniform speeds, while at the same time using ideas such as: The Earth is one of several planets revolving around a stationary sun in a determined order. The Earth has three motions: daily rotation, annual revolution, and annual tilting of its axis. Retrograde motion of the planets is explained by the Earth's motion. The distance from the Earth to the Sun is small compared to the distance from the Sun to the stars. Background Antiquity Philolaus (4th century BCE) was one of the first to hypothesize movement of the Earth, probably inspired by Pythagoras' theories about a spherical, moving globe. In the 3rd century BCE, Aristarchus of Samos proposed what was, so far as is known, the first serious model of a heliocentric Solar System, having developed some of Heraclides Ponticus' theories (speaking of a "revolution of the Earth on its axis" every 24 hours). Though his original text has been lost, a reference in Archimedes' book The Sand Reckoner (Archimedis Syracusani Arenarius & Dimensio Circuli) describes a work in which Aristarchus advanced the heliocentric model. Archimedes wrote: It is a common misconception that the heliocentric view was rejected by the contemporaries of Aristarchus. This is the result of Gilles Ménage's translation of a passage from Plutarch's On the Apparent Face in the Orb of the Moon. Plutarch reported that Cleanthes (a contemporary of Aristarchus and head of the Stoics) as a worshiper of the Sun and opponent to the heliocentric model,