Aristarchus of Samos
Cleanthes [a contemporary of Aristarchus and head of the Stoics] thought it was the duty of the Greeks to indict Aristarchus of Samos on the charge of impiety for putting in motion the Hearth of the Universe [i.e. the Earth], ... supposing the heaven to remain at rest and the Earth to revolve in an oblique circle, while it rotates, at the same time, about its own axis