Inertia
Albert Einstein's theory of special relativity, as proposed in his 1905 paper entitled "On the Electrodynamics of Moving Bodies" was built on the understanding of inertia and inertial reference frames developed by Galileo and Newton. While this revolutionary theory did significantly change the meaning of many Newtonian concepts such as mass, energy, and distance, Einstein's concept of inertia remained unchanged from Newton's original meaning (in fact, the entire theory was based on Newton's definition of inertia). However, this resulted in a limitation inherent in special relativity: the principle of relativity could only apply to reference frames that were "inertial" in nature (meaning when no acceleration was present). In an attempt to address this limitation, Einstein proceeded to develop his general theory of relativity ("The Foundation of the General Theory of Relativity," 1916), which ultimately provided a unified theory for both "inertial" and "noninertial" (accelerated) reference frames. However, in order to accomplish this, in general relativity, Einstein found it necessary to redefine several fundamental concepts (such as gravity) in terms of a new concept of "curvature" of space-time, instead of the more traditional system of forces understood by Newton.
Henri Poincaré
Poincaré made clear the importance of paying attention to the invariance of laws of physics under different transformations, and was the first to present the Lorentz transformations in their modern symmetrical form. Poincaré discovered the remaining relativistic velocity transformations and recorded them in a letter to Hendrik Lorentz in 1905. Thus he obtained perfect invariance of all of Maxwell's equations, an important step in the formulation of the theory of special relativity. In 1905, Poincaré first proposed gravitational waves ("ondes gravifiques") emanating from a body and propagating at the speed of light as being required by the Lorentz transformations.