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A man never ascends or descends, nor walks at all in any direction, without raising the heel of the back foot.
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hap. LX.—Of the Equipoise of a Figure standing still.

The non-existence of motion in any animal resting on its feet, is owing to the equality of weight distributed on each side of the line of gravity.

Chap. LXI.—Motion produced by the Loss of Equilibrium.

Motion is created by the loss of due equipoise, that is, by inequality of weight; for nothing can move of itself, without losing its centre of gravity, and the farther that is removed, the quicker and stronger will be the motion.

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