Newton's three laws of motion describe the relationship between forces and motion. The first law states that an object at rest stays at rest or an object in motion stays in motion with the same speed and in the same direction unless acted upon by an external force. The second law states that the acceleration of an object as produced by a net force is directly proportional to the magnitude of the net force, in the same direction as the net force, and inversely proportional to the mass of the object. The third law states that for every action, there is an equal and opposite reaction. Newton compiled his three laws of motion in his work Philosophiæ Naturalis Principia Mathematica, published in 1687.