The Law of Universal Gravitation explains that gravitational force decreases with distance. In addition, the theory notes that the greater an object's mass, the greater its gravitational force. Newton published his argument in Philosophiae Naturalis Principia Mathematica (1687). It is important to note that Newton was not "inventing" or "discovering" gravity; he was merely defining it mathematically. Newton would use universal graviation, along with his laws of motion, to substantiate Kepler's laws of planetary motion.
Strictly speaking, this law applies only to pointlike objects. If the objects have spatial extent[?], the true force has to be found by integrating the forces between the various points.
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