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The ancients assumed that everything moved in circles. Since that didn't work very well, they assumed that the motion was in circles-within-circles, called "epicycles". That was close enough given their generally crummy measuring devices. By the 1500's, measuring devices had become accurate enough to see that planets didn't move in epicycles either.
Johanes Kepler determined that the planets move in ELLIPTICAL orbits, and we have since learned that all orbits are always elliptical.
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