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The history of mechanics has been extensively investigated in a number of historical works. The full story from the Greeks and medievals through the Scientific Revolution to the modern era is long and complex. But it is also incomplete. Studies to date have been admirably thorough in putting empirical discoveries into proper perspective and in making clear the great importance of mathematical innovations. But there has been surprisingly little regard for the role of thought experiments in the development of mechanics. We attempt to rectify this, at least in part. After a brief account of Greek ideas of space and motion, we focus on late medieval and early modern physics, especially the development of inertial motion. In particular, we examine the thought experiments of Buridan, Oresme, and Galileo, which did so much to undermine Aristotle’s account of motion and lead the way to the modern concept of inertia.