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When did Isaac Newton publish the laws of motion in the Principia?

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A diagram with labeled vector illustrations. Panel A shows vector addition with two green arrows A and B forming a parallelogram, and their sum C as a red diagonal. Panel B shows vector subtraction, with A and negative B forming resultant D. Panel C demonstrates vector components using angles and projections. Panel D uses the right-hand rule with thumbs to show the direction of the cross product E = A x B and its opposite, -E = B x A. — mechanics Figure 1: (A) The vector sum C = A + B = B + A. (B) The vector difference A + (−B) = A − B = D. (C, left) A cos θ is the component of A along B and (right) B cos θ is the component of B along A. (D, left) The right-hand rule used to find the direction of E = A × B and (right) the right-hand rule used to find the direction of −E = B × A.

Isaac Newton first published his three laws of motion in his seminal work, Philosophiae Naturalis Principia Mathematica (commonly known as the Principia), in 1687.123