A lack of money forced him to leave school in 1585, and for four years he supported himself by tutoring students in mathematics. In 1589 he obtained a position lecturing at the University of Pisa, where he remained for three years, making discoveries that challenged the then-dominant view of physics, which was based on the ancient writings of the Greek philosopher Aristotle. Most famously, he discovered that two objects, dropped from the same height, fall at the same rate regardless of their weight. In 1592, he moved on to the University of Padua, where he would remain for more than fifteen years. There, he met Marina Gambi, who became his mistress and bore him three children. He also did groundbreaking research in physics, discovering the law of inertia and paving the way for the work of Sir Isaac Newton in the 17th century. Meanwhile, in the world of astronomy, a great debate was raging between the ancient
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