How did the heliocentric model explain the retrograde motion of Mars Jupiter and Saturn?

In the heliocentric model proposed by Nicolaus Copernicus, the retrograde motion of superior planets like Mars, Jupiter, and Saturn is explained as an apparent effect caused by the motion of Earth itself.1

In the older Ptolemaic system, retrograde motion was accounted for by complex epicyclic models, which required these planets to move in lockstep with the Sun as viewed from a stationary Earth. Copernicus realized that these separate, synchronized movements were actually manifestations of a single phenomenon: Earth’s own orbital motion around the Sun. Because Earth orbits the Sun at a different speed than the outer planets, it periodically "overtakes" them. As Earth passes these planets in its orbit, they appear to slow down, reverse direction, and then resume their normal path against the background of the stars, creating the illusion of retrograde motion.213