In ancient science, mathematical mechanics and philosophy of motion originated together but separated as mechanics became associated almost solely with ancient devices and machines. The Platonic conception of mathematics may have played a role in the theoretical devaluation of mechanics. It is shown that mathematical mechanics, known through two specific principles, originated earlier in Greek thought than has been supposed. A common kinematics is present in Archytas and the Aristotelian Mechanics, and underlies Archimedes’ On the Equilibrium of Planes. These original principles of mechanics were applied and developed by Hellenistic mechanicians, like Hero of Alexandria. A concept central to mechanics and to philosophy of motion is equilibrium or balance, understood as a feature of movement itself. Ancient concepts of energy involve power (dynamis) and actuality (energeia). Actuality figures in Aristotle's biological model of change, which relies on final cause, or teleology in nature. Motion is itself one kind of actuality.
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