Kepler’s second law: A planet sweeps out equal areas in equal times. It takes as long to travel from B to A as from F to E as from D to C; and the shaded areas BSA, FSE and DSC are all equal.

Kepler’s third or harmonic law states that the squares of the periods of the planets (the times for them to complete one orbit) are proportional to the cubes of their average distance from the Sun; the more distant the planet, the more slowly it moves, but according to a precise mathematical law: P2 = a3, where P represents the period of revolution of the planet about the Sun, measured in years, and a the distance of the planet from the Sun measured in “astronomical units.

He [Kepler] supposes, in that treatise [epitome of astronomy], that the motion of the sun on his axis is preserved by some inherent vital principle; that a certain virtue, or immaterial image of the sun, is diffused with his rays into the ambient spaces, and, revolving with the body of the sun on his axis, takes hold of the planets and carries them along with it in the same direction; as a load-stone turned round in the neighborhood of a magnetic needle makes it turn round at the same time. The planet, according to him, by its inertia endeavors to continue in its place, and the action of the sun's image and this inertia are in a perpetual struggle. He adds, that this action of the sun, like to his light, decreases as the distance increases; and therefore moves the same planet with greater celerity when nearer the sun, than at a greater distance. To account for the planet's approaching towards the sun as it descends from the aphelium to the perihelium, and receding from the sun while it ascends to the aphelium again, he supposes that the sun attracts one part of each planet, and repels the opposite part; and that the part which is attracted is turned towards the sun in the descent, and that the other part is towards the sun in the ascent. By suppositions of this kind he endeavored to account for all the other varieties of the celestial motions.

All three of Kepler’s laws of planetary motion can be derived from Newtonian principles. Kepler’s laws were empirical, based upon the painstaking observations of Tycho Brahe. Newton’s laws were theoretical, rather simple mathematical abstractions from which all of Tycho’s measurements could ultimately be derived. From these laws, Newton wrote with undisguised pride in the Principia, “I now demonstrate the frame of the System of the World.

[W]hat sharpness of mind was employed by John Kepler... when, from there being just five regular solids... he inferred that the number of the planets was six, and by inscription of spheres within these solids and circumscription of spheres around them related the distances and ratios of the orbits. It can scarcely be said with what power of prophecy and by what labours he succeeded in arriving at that great theorem of the elliptical planetary orbits with a common focus at the sun... in such a way that the areas that the radius vector of the planet from the sun traverses are proportional to the times. Nevertheless... so great a man... owned himself unequal to... solving directly the problem of determining for a given time the place of the planet in the elliptical orbit. Here geometry, his goddess-mother, was of no avail... But... he brought forward a conjecture of great use, namely, that the squares of the periodic times are in the same ratio as the cubes of the distances between the planets and the sun. Finally, he discovered a marvellous property of bodies by which in the minimally resisting ether they seek each other and as it were attract. From this he also deduced the tides in a clear but brief discourse in his immortal Commentaries on the star Mars, and was as it were a prophet and a precursor of a great geometer born among the English.

Next to Ticho, came the Sagacious Kepler. He having the Advantage of Ticho's Labours and Observations, found out the true Physical System of the World, and vastly improv'd the Astronomical Science.
For he demonstrated that all the Planets perform their Revolutions in Elliptick Orbits, whose 'Plains pass thro' the Center of the Sun, observing this Law, That the Area's (of the Elliptick Sectors, taken at the Center of the Sun, which he proved to be in the common Focus of these Ellipses) are always proportional to the Times, in which the correspendent Elliptical Arches are describ'd. He discover'd also, That the Distances of the Planets from the Sun are in the Ratio [3:2] of the Periodical Times, or (which is all one) That the Cubes of the Distances are as the Squares of the Times. This great Astronomer had the Opportunity of observing Two Comets, one of which was a very remarkable one. And from the Observations of these (which afforded sufficient Indications of an Annual Parallax) he concluded, That the Comets mov'd freely thro' the Planetary Orbs, with a Motion not much different from a Rectilinear one; but of what Kind, he cou'd not then precisely determine.

Galileo had provided the methodology for the analysis of motions on and near the earth and had applied it successfully. Copernicus and Kepler had previously obtained the laws of motion of the planets and their satellites. ...But Galileo had succeeded in deriving numerous laws from a few physical principles and... the axioms and theorems of mathematics. ...The Keplerian laws ...were not logically related to each other. Each was an independent inference from observations. ...They seemed to be suspended in the same vacuum in which the planets moved.
Galileo's laws had the additional advantage of supplying physical insight. The first law of motion and the law that the force of graviation gives... a downward acceleration of 32 ft/sec²... explain the vertrical rise and fall of bodies, motion on slopes, and projectile motion. Kepler's laws... had no physical basis. ...Kepler tried to introduce the idea of a magnetic force which the sun exerted... But he failed to related the behavior of the planets to the precise laws of planetary motion. ...
The new astronomical theory was completely isolated from the theory of motion on earth. ...it bothered mathematicians and scientists who believed that all the phenomena of the universe were governed by one master plan instituted by the master planner—God.

But to return to Kepler, his great sagacity, and continual meditation on the planetary motions, suggested to him some views of the true principles from which these motions flow. In his preface to the commentaries concerning the planet Mars, he speaks of gravity as of a power that was mutual betwixt bodies, and tells us that the earth and moon tend towards each other, and would meet in a point so many times nearer to the earth than to the moon, as the earth is greater than the moon, if their motions did not hinder it. He adds that the tides arise from the gravity of the waters towards the moon. But not having just enough notions of the laws of motion, he does not seem to have been able to make the best use of these thoughts; nor does he appear to have adhered to them steadily, since in his epitome of astronomy, published eleven years after, he proposes a physical account of the planetary motions, derived from different principles.

But, since the law of centripetal force employed by nature is to be discovered from its symptoms, the indisputably elliptical orbit and the sesquialteral ratio of the periodic times and the distances from the centre of forces, the same great Newton solved not only the universal problem of determining the trajectory and the motion in it for any given centripetal force, but also its converse. After this universal problem had been solved the sequel was to find other [quantities] in the geometric figure that are measures of physical qualities; for example, that the periodic times in ellipses are in the sesquiplicate ratio of the transverse axes [the squares of the times are as the cubes of the axes], and as many other things similar to these as possible. Also, for instance, to compare this force, which we experience in the planets, with another given force near to us, namely gravity. But also the new philosophy was to concern itself with movable elliptical orbits, in which the line of apsides either advances or retires. Also, for instance, a more exact [theory] of rectilinear descent and of the motion of pendulous bodies than the Huygenian one, since that supposes the centre to be infinitely removed. Therefore also, other s different from the common one and variously devised according as the pendulum oscillates inside or outside the surface of the Earth. And let that suffice for this problem. But also on account of the mutual actions of bodies moving around a centre the orbits usually turn out to be deformed, and also an investigation of these actions and of the deformity arising from them, whence arise many minor inequalities of the planets, such as the motion of the nodes, the variation of maximum latitude, and other things in the moon.

As a boy Kepler had been captured by a vision of cosmic splendour, a harmony of the worlds which he sought so tirelessly all his life. Harmony in this world eluded him. His three laws of planetary motion represent, we now know, a real harmony of the worlds, but to Kepler they were only incidental to his quest for a cosmic system based on the Perfect Solids, a system which, it turns out, existed only in his mind. Yet from his work, we have found that scientific laws pervade all of nature, that the same rules apply on Earth as in the skies, that we can find a resonance, a harmony, between the way we think and the way the world works.
When he found that his long cherished beliefs did not agree with the most precise observations, he accepted the uncomfortable facts, he preferred the hard truth to his dearest illusions. That is the heart of science.

Magnetism is, of course, not the same as gravity, but Kepler’s fundamental innovation here is nothing short of breathtaking: he proposed that quantitative physical laws that apply to the Earth are also the underpinnings of quantitative physical laws that govern the heavens. It was the first nonmystical explanation of motion in the heavens; it made the Earth a province of the Cosmos. “Astronomy,” he said, “is part of physics.” Kepler stood at a cusp in history; the last scientific astrologer was the first astrophysicist. Not given to quiet understatement, Kepler assessed his discoveries in these words: With this symphony of voices man can play through the eternity of time in less than an hour, and can taste in small measure the delight of God, the Supreme Artist … I yield freely to the sacred frenzy … the die is cast, and I am writing the book — to be read either now or by posterity, it matters not. It can wait a century for a reader, as God Himself has waited 6,000 years for a witness.

I was almost driven to madness in considering and calculating this matter. I could not find out why the planet would rather go on an elliptical orbit. Oh, ridiculous me! As the liberation in the diameter could not also be the way to the ellipse. So this notion brought me up short, that the ellipse exists because of the liberation. With reasoning derived from physical principles, agreeing with experience, there is no figure left for the orbit of the planet but a perfect ellipse.

The perturbations which the motions of planets suffer from the influence of other planets, are so small and so slow that they only become sensible after a long interval of time; within a shorter time, or even within one or several revolutions, according to circumstances, the motion would differ so little from motion exactly described, according to the laws of Kepler, in a perfect ellipse, that observations cannot show the difference. As long as this is true, it not be worth while to undertake prematurely the computation of the perturbations, but it will be sufficient to adapt to the observations what we may call an osculating conic section: but, afterwards, when the planet has been observed for a longer time, the effect of the perturbations will show itself in such a manner, that it will no longer be possible to satisfy exactly all the observations by a purely elliptic motion; then, accordingly, a complete and permanent agreement cannot be obtained, unless the perturbations are properly connected with the elliptic motion.

Not long after, that Great Geometrician, the Illustrious Newton, writing his Mathematical Principles of Natural Philosophy, demonstrated not only that what Kepler had found, did necessarily obtain in the Planetary System; but also, that all the Phænomena of Comets wou'd naturally follow from the same Principles; which he abundantly illustrated by the Example of the aforesaid Comet of the Year 1680, shewing, at the same time, a Method of Delineating the Orbits of Comets Geometrically; wherein he (not without the highest Admiration of all Men) solv'd a Problem, whose Intricacy render'd it worthy of himself. This Comet he prov'd to move round the Sun in a Parabolical Orb, and to describe Area's (taken at the Center of the Sun) proportional to the Times.