Nicolaus Copernicus in his De revolutionibus orbium coelestium ("On the revolution of heavenly spheres", first printed in 1543 in Nuremberg), presented a discussion of a heliocentric model of the universe in much the same way as Ptolemy in the 2nd century had presented his geocentric model in his Almagest.
Kepler's three laws of planetary motion can be stated as follows: (1) All planets move about the Sun in elliptical orbits, having the Sun as one of the foci. (2) A radius vector joining any planet to the Sun sweeps out equal areas in equal lengths of time
