De vi percussionis liber.

Building on the theory of mechanics as formulated by Aristotle and Galileo, and countering objections expressed by Stephani degli Angeli among others, Borelli presented a completely mechanical account of the action of muscles and analyzed the way the center of gravity of an animal shifts in locomotion. Translated into English by Paul Maquet as Borelli's on the movement of animals - On the force of percussion. Berlin: Springer, 2015. Digital facsimile of the 1667 edition from Google Books at this link.