Medieval age

In the Middle Ages, Aristotle's theories were criticized and modified by a number of figures, beginning with John Philoponus in the 6th century, and reaching its peak during the Golden Age of Islam. A central problem was that of projectile motion, which was discussed by Hipparchus and Philoponus. This led to the development of the theory of impetus by the 11th century Persian Avicenna and the 14th century French Jean Buridan, which developed into the modern theories of inertia, velocity, acceleration and momentum. This work and others was developed in 14th century England by the Oxford Calculators such as Thomas Bradwardine, who studied and formulated various laws regarding falling bodies.

On the question of a body subject to a constant (uniform) force, the 12th century Hibat Allah Abu'l-Barakat al-Baghdaadi (Iraqi, of Baghdad) stated that constant force imparts constant acceleration, while the main properties are uniformly accelerated motion (as of falling bodies) was worked out by the 14th century Oxford Calculators.