It's one of the forces of the universe. The others are electromagnetism and nuclear. Its mathematical formulation was expressed by Newton in his Principia Mathematica in the late seventeenth century. The gravitational interaction between two celestial bodies, such as the moon and earth, means that they attract each other in a relationship directly proportional to their mass and inversely proportional to their distance. Newton was inspired by previous authors, especially in Kepler's third law enunciated in the first third of the same century.
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