Isaac Newton's Principia, or, Mathematical Principles of Natural Philosophy, is one of the most influential books on the principles of mechanics. This is the first English edition, translated by Andrew Motte, and contains all of Newton's major theories, including his three laws of motion, and his theories of gravity. Although now primarily known for this work, Newton's Principia was not without its controversy. Shortly after its presentation to the Royal Society in 1686, Robert Hooke accused Newton of plagiarism, claiming that Newton had stolen ideas on universal gravitation from his 1666 paper "On Gravity". However, though Hooke had theorised such a force did exist, it was Newton that calculated how it worked for the first time.