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Newton’s first law states that, if a body is at rest or moving at a constant speed in a straight line, it will remain at rest or keep moving in a straight line at constant speed unless it is acted upon by a force. This postulate is known as the law of inertia. The law of inertia was first formulated by Galileo Galilei for horizontal motion on Earth and was later generalized by René Descartes. Before Galileo it had been thought that all horizontal motion required a direct cause, but Galileo deduced from his experiments that a body in motion would remain in motion unless a force (such as friction) caused it to come to rest.