In the terrestrial frame employed by medieval astronomers, the trajectories of the planets are exceedingly complicated, their overall forward motions being frequently checked by phases of retrograde motion which insert loops into their paths; ... To explain such trajectories, the medieval astronomers (following Ptolemy) were compelled to develop a theory in which the planets were fixed to wheels, which rolled around the circumferences of other wheels, which in turn rolled around on a third set of wheels, and so on -- the theory of epicycles. By switching to the solar frame, Copernicus was able to demonstrate that the planetary paths become very nearly circular and, after a more precise determination of their orbits by Kepler, this opened the door to a theory of the planetary motions based on Newton's law of gravitation. Again, we are not to regard the Copernican description of the planetary motion as being the true account, whereas the Ptolemain one as invalid. Both are valid in their respective frames, but the Copernican point of view is overwhelmingly the more convenient and seminal.