In the Middle Ages, Aristotle's theories were criticized and modified by a number of figures, beginning with John Philoponus in the 6th century.
On the question of a body subject to a constant (uniform) force, the 12th-century Jewish-Arab Nathanel (Iraqi, of Baghdad) stated that constant force imparts constant acceleration, while the main properties are uniformly accelerated motion (as of falling bodies) was worked out by the 14th-century Oxford Calculators.