The Scientific Revolution was driven by several major factors in the 16th-17th centuries including the rise of universities, recovery of classical texts, and individuals being able to pursue scientific investigation with patronage. Copernicus proposed a heliocentric model of the universe, with the sun at the center, challenging the Ptolemaic geocentric view. Kepler formulated the laws of planetary motion providing mathematical proofs for the heliocentric theory. Galileo provided further evidence for heliocentrism through his astronomical observations with an improved telescope. Newton later synthesized the works of Copernicus, Kepler, and Galileo by formulating the law of universal gravitation, proving the universe followed precise mathematical relationships.