I am searching for a book that describes with depth the history of physics from Galileo, Newton, etc. to Einstein, especially the formulation of the principle of relativity and the laws of motion. Most of the treatments of the subject I am aware of (mainly internet sites), do not point out the great conceptual difficulties that for example people like Galileo had to be overcome regarding inertia, isotropy and homogeneity of space, synchronization, circular motion, etc. and usually describe them as rather obvious conclusions from our modern perspective. I would like to see a discussion of the conceptual alternatives that were present at every stage of the formulation of the theories (e.g. anisotropic inertia, ether) and a extensive description of the problems.