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What is Nicolaus Copernicus's heliocentric model?

Nicolaus Copernicus formulated a mathematical astronomical model that placed the stationary Sun near the center of the universe, with Earth and other planets orbiting it in circular paths. Published in 1543 just before his death, this model challenged the long-prevailing geocentric system of Ptolemy and triggered the Copernican Revolution. Although it retained certain false assumptions like circular orbits and epicycles, it correctly explained planetary retrograde motion and established that Earth rotates on its axis while revolving around the Sun.

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