In Book 1 of the Principia, Newton presented two different descriptions of orbital motion under the action of a central force. In Prop. 1, he described this motion as a limit of the action of a sequence of periodic force impulses, while in Prop. 6, he described it by the deviation from inertial motion due to a continuous force. From the start, however, the equivalence of these two descriptions has been the subject of controversies. Perhaps the earliest one was the (...) famous discussion from December 1704 to 1706 between Leibniz and the French mathematician Pierre Varignon. But confusion about this subject has remained up to the present time. Recently, Pourciau has rekindled these controversies in an article in this journal, by arguing that “Newton never tested the validity of the equivalency of his two descriptions because he does not see that his assumption could be questioned. And yet the validity of this unseen and untested equivalence assumption is crucial to Newton’s most basic conclusions concerning one-body motion” (Pourciau in Arch Hist Exact Sci 58:283–321, 2004, 295). But several revisions of Props. 1 and 6 that Newton made after the publication in 1687 of the first edition of the Principia reveal that he did become concerned to provide mathematical proof for the equivalence of his seemingly different descriptions of orbital motion in these two propositions. In this article, we present the evidence that in the second and third edition of the Principia, Newton gave valid demonstrations of this equivalence that are encapsulated in a novel diagram discussed in Sect. 4. (shrink)