Newton’s law of gravity
Newton discovered the relationship between the motion of the Moon and the motion of a body falling freely on Earth. By his dynamical and gravitational theories, he explained Kepler’s laws and established the modern quantitative science of gravitation. Newton assumed the existence of an attractive force between all massive bodies, one that does not require bodily contact and that acts at a distance. By invoking his law of inertia (bodies not acted upon by a force move at constant speed in a straight line), Newton concluded that a force exerted by Earth on the Moon is needed to keep it in a circular motion about Earth rather than moving in a straight line. He realized that this force could be, at long range, the same as the force with which Earth pulls objects on its surface downward. When Newton discovered that the acceleration of the Moon is 1/3,600 smaller than the acceleration at the surface of Earth, he related the number 3,600 to the square of the radius of Earth. He calculated that the circular orbital motion of radius R and period T requires a constant inward acceleration A equal to the product of 4π2 and the ratio of the radius to the square of the time:
The Moon’s orbit has a radius of about 384,000 km (239,000 miles; approximately 60 Earth radii), and its period is 27.3 days (its synodic period, or period measured in terms of lunar phases, is about 29.5 days). Newton found the Moon’s inward acceleration in its orbit to be 0.0027 metre per second per second, the same as (1/60)2 of the acceleration of a falling object at the surface of Earth.
In Newton’s theory every least particle of matter attracts every other particle gravitationally, and on that basis he showed that the attraction of a finite body with spherical symmetry is the same as that of the whole mass at the centre of the body. More generally, the attraction of any body at a sufficiently great distance is equal to that of the whole mass at the centre of mass. He could thus relate the two accelerations, that of the Moon and that of a body falling freely on Earth, to a common interaction, a gravitational force between bodies that diminishes as the inverse square of the distance between them. Thus, if the distance between the bodies is doubled, the force on them is reduced to a fourth of the original.
Newton saw that the gravitational force between bodies must depend on the masses of the bodies. Since a body of mass M experiencing a force F accelerates at a rate F/M, a force of gravity proportional to M would be consistent with Galileo’s observation that all bodies accelerate under gravity toward Earth at the same rate, a fact that Newton also tested experimentally. In Newton’s equation 
F12 is the magnitude of the gravitational force acting between masses M1 and M2 separated by distance r12. The force equals the product of these masses and of G, a universal constant, divided by the square of the distance.
The constant G is a quantity with the physical dimensions (length)3/(mass)(time)2; its numerical value depends on the physical units of length, mass, and time used. (G is discussed more fully in subsequent sections.)
The force acts in the direction of the line joining the two bodies and so is represented naturally as a vector, F. If r is the vector separation of the bodies, then 
In this expression the factor r/r3 acts in the direction of r and is numerically equal to 1/r2.
The attractive force of a number of bodies of masses M1 on a body of mass M is 
where Σ1 means that the forces because of all the attracting bodies must be added together vectorially. This is Newton’s gravitational law essentially in its original form. A simpler expression, equation (5), gives the surface acceleration on Earth. Setting a mass equal to Earth’s mass ME and the distance equal to Earth’s radius rE, the downward acceleration of a body at the surface g is equal to the product of the universal gravitational constant and the mass of Earth divided by the square of the radius: 
Weight and mass
The weight W of a body can be measured by the equal and opposite force necessary to prevent the downward acceleration; that is Mg. The same body placed on the surface of the Moon has the same mass, but, as the Moon has a mass of about 1/81 times that of Earth and a radius of just 0.27 that of Earth, the body on the lunar surface has a weight of only 1/6 its Earth weight, as the Apollo program astronauts demonstrated. Passengers and instruments in orbiting satellites are in free fall. They experience weightless conditions even though their masses remain the same as on Earth.
Equations (1) and (2) can be used to derive Kepler’s third law for the case of circular planetary orbits. By using the expression for the acceleration A in equation (1) for the force of gravity for the planet GMPMS/R2 divided by the planet’s mass MP, the following equation, in which MS is the mass of the Sun, is obtained: 
Kepler’s very important second law depends only on the fact that the force between two bodies is along the line joining them.
Newton was thus able to show that all three of Kepler’s observationally derived laws follow mathematically from the assumption of his own laws of motion and gravity. In all observations of the motion of a celestial body, only the product of G and the mass can be found. Newton first estimated the magnitude of G by assuming Earth’s average mass density to be about 5.5 times that of water (somewhat greater than Earth’s surface rock density) and by calculating Earth’s mass from this. Then, taking ME and rE as Earth’s mass and radius, respectively, the value of G was 
which numerically comes close to the accepted value of 6.6743 × 10−11 m3 s−2 kg−1, first directly measured by Henry Cavendish.
Comparing equation (5) for Earth’s surface acceleration g with the R3/T2 ratio for the planets, a formula for the ratio of the Sun’s mass MS to Earth’s mass ME was obtained in terms of known quantities, RE being the radius of Earth’s orbit: 
The motions of the moons of Jupiter (discovered by Galileo) around Jupiter obey Kepler’s laws just as the planets do around the Sun. Thus, Newton calculated that Jupiter, with a radius 11 times larger than Earth’s, was 318 times more massive than Earth but only 1/4 as dense.