  The modern F=ma form of Newton's second law nowhere occurs in any edition of the Principia even though he had seen his second law formulated in this way in print during the interval between the second and third editions in Jacob Hermann's Phoronomia of 1716. Instead, it has the following formulation in all three editions: A change in motion is proportional to the motive force impressed and takes place along the straight line in which that force is impressed. In the body of the Principia this law is applied both to discrete cases, in which an instantaneous impulse such as from impact is effecting the change in motion, and to continuously acting cases, such as the change in motion in the continuous deceleration of a body moving in a resisting medium. Newton thus appears to have intended his second law to be neutral between discrete forces (that is, what we now call impulses) and continuous forces. (His stating the law in terms of proportions rather than equality bypasses what seems to us an inconsistency of units in treating the law as neutral between these two.)