Robert H. Goddard made the first liquid fuel rocket
the first solid fuel rocket was by the Chinese as early as 1000 ad
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Two of the most known weapons invented in the 19th century are Congreve rockets and the revolver. Also, TNT and dynamite explosives were both invented in the 19th century.
John "Jack" Cover invented the taser in 1974, he was also a scientist and made it with gun powder.
It was a British scientist, John Harrison, invented the first accurate seagoing clock (the H5) for the Royal Navy in 1761. It was used for determing one's position and direction at sea (which you can tell by the stars and the time).
This is two separate inventions: the nuclear bomb/warhead and the vertical launch long range rocket. They were separately invented at different times by different people, then mated together to make SRBM, IRBM, SLBM, and ICBM. Robert Goddard & Werner von Braun both independently invented different vertical launch long range rockets. Leo Szilard invented the fission bomb, Stan Ulam and Edward Teller invented the fusion bomb.
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