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This exciting essay focuses on the explanation and analysis of Isaac Newton's Philosophiæ naturalis principia mathematica, commonly known as Principia, one the most influential works in history and whose understanding, due to its complexity and depth, escapes comprehension on a first reading. Whether you have already read Principia or not, this essay will allow you to immerse yourself in each and every one of its meanings, opening a window to Newton's scientific thought and his true intention when he created this immortal work.