This article is about the scientist. For the agriculturalist, see Isaac Newton (agriculturalist). Newton made seminal contributions to optics, and he shares credit with Gottfried Leibniz for the development of calculus. Newton's Principia formulated the laws of motion and universal gravitation, which dominated scientists' view of the physical universe for the next three centuries. By deriving Kepler's laws of planetary motion from his mathematical description of gravity, and then using the same principles to account for the trajectories of comets, the tides, the precession of the equinoxes, and other phenomena, Newton removed the last doubts about the validity of the heliocentric model of the Solar System.