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Using homogeneity of space, isotropy of space and the principle of relativity (without the constancy of light speed), one can derive: $$x' = \frac{x-vt}{\sqrt{1+\kappa v^2}}$$ $$t' = \frac{t+\kappa vx}{\sqrt{1+\kappa v^2}}$$ $\kappa = 0$ denotes Galilean and $\kappa < 0$ denotes Lorentz Transform...