In physics and chemistry, the law of conservation of energy states that the total energy of an isolated system remains constant; it is said to be conserved over time. This law means that energy can neither be created nor destroyed; rather, it can only be transformed or transferred from one form to another. For instance, chemical energy is converted to kinetic energy when a stick of dynamite explodes. If one adds up all the forms of energy that were released in the explosion, such as the kinetic energy and potential energy of the pieces, as well as heat and sound, one will get the exact decrease of chemical energy in the combustion of the dynamite. Classically, conservation of energy was distinct from conservation of mass; however, special relativity showed that mass is related to energy and vice versa by E = mc2, and science now takes the view that mass–energy is conserved. In physics and chemistry, the law of conservation of energy states that the total energy of an isolated system remains constant; it is said to be conserved over time. This law means that energy can neither be created nor destroyed; rather, it can only be transformed or transferred from one form to another. For instance, chemical energy is converted to kinetic energy when a stick of dynamite explodes. If one adds up all the forms of energy that were released in the explosion, such as the kinetic energy and potential energy of the pieces, as well as heat and sound, one will get the exact decrease of chemical energy in the combustion of the dynamite. Classically, conservation of energy was distinct from conservation of mass; however, special relativity showed that mass is related to energy and vice versa by E = mc2, and science now takes the view that mass–energy is conserved. Conservation of energy can be rigorously proven by Noether's theorem as a consequence of continuous time translation symmetry; that is, from the fact that the laws of physics do not change over time. A consequence of the law of conservation of energy is that a perpetual motion machine of the first kind cannot exist, that is to say, no system without an external energy supply can deliver an unlimited amount of energy to its surroundings. For systems which do not have time translation symmetry, it may not be possible to define conservation of energy. Examples include curved spacetimes in general relativity or time crystals in condensed matter physics. Ancient philosophers as far back as Thales of Miletus c. 550 BCE had inklings of the conservation of some underlying substance of which everything is made. However, there is no particular reason to identify this with what we know today as 'mass-energy' (for example, Thales thought it was water). Empedocles (490–430 BCE) wrote that in this universal system, composed of four roots (earth, air, water, fire), 'nothing comes to be or perishes'; instead, these elements suffer continual rearrangement. In 1605, Simon Stevinus was able to solve a number of problems in statics based on the principle that perpetual motion was impossible. In 1639, Galileo published his analysis of several situations—including the celebrated 'interrupted pendulum'—which can be described (in modern language) as conservatively converting potential energy to kinetic energy and back again. Essentially, he pointed out that the height a moving body rises is equal to the height from which it falls, and used this observation to infer the idea of inertia. The remarkable aspect of this observation is that the height to which a moving body ascends on a frictionless surface does not depend on the shape of the surface. In 1669, Christiaan Huygens published his laws of collision. Among the quantities he listed as being invariant before and after the collision of bodies were both the sum of their linear momentums as well as the sum of their kinetic energies. However, the difference between elastic and inelastic collision was not understood at the time. This led to the dispute among later researchers as to which of these conserved quantities was the more fundamental. In his Horologium Oscillatorium, he gave a much clearer statement regarding the height of ascent of a moving body, and connected this idea with the impossibility of a perpetual motion. Huygens' study of the dynamics of pendulum motion was based on a single principle: that the center of gravity of a heavy object cannot lift itself. The fact that kinetic energy is scalar, unlike linear momentum which is a vector, and hence easier to work with did not escape the attention of Gottfried Wilhelm Leibniz. It was Leibniz during 1676–1689 who first attempted a mathematical formulation of the kind of energy which is connected with motion (kinetic energy). Using Huygens' work on collision, Leibniz noticed that in many mechanical systems (of several masses, mi each with velocity vi), was conserved so long as the masses did not interact. He called this quantity the vis viva or living force of the system. The principle represents an accurate statement of the approximate conservation of kinetic energy in situations where there is no friction. Many physicists at that time, such as Newton, held that the conservation of momentum, which holds even in systems with friction, as defined by the momentum: