The numerous stars, scattered in different directions, sweep all alike across the sky every day continuously forever. The axis, however, does not move even slightly from its place, but just stays forever fixed, holds the earth in the centre evenly balanced, and rotates the sky itself. Two poles terminate it at the two ends; but one is not visible, while the opposite one in the north is high above the horizon. On either side of it two Bears wheel in unison, and so they are called the Wagons. They keep their heads forever pointing to each other's loins, and forever they move with shoulders leading, aligned towards the shoulders, but in opposite directions.

Source: Aratus. Phaenomena, 19-30, translated by Douglas Kidd (Cambridge & New York: Cambridge University Press, 1997).