Gravitational Force of an object

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ElectroViruz
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Just a little curious. What formula did Sir Isaac Newton used to find out the exact value of Earth's gravitational force ? Can we apply that formula to find out the gravitational force of other objects ? Let's say, calculating the gravitational force that my bottle has or our body. I know that the value in such objects with small mass would be minute, but I thought it'd be cool to know :)
 
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