The Ten Books on Architecture, 9.1.14

Vitruvius  translated by Joseph Gwilt

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14If, therefore, experience, reason, and the testimony of an antient poet, prove it, I do not see how it can be otherwise than I have above shewn. Jupiter performs his circuit between those of Mars and Saturn: thus it is greater than that of Mars, but less than that of Saturn. In short, all the planets, the more distant they are from the extremity of the heaven, and the nearer their orbit is to the earth, seem to move swifter; for those which have a smaller orbit, often pass those above them.

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