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Time And Relative Dimension(s) In Space -- explained to Ian Chesterton & Barbara Wright by Susan Foreman in "An Unearthly Child" & repeated several times since. Also it is known to be Totally And Radically Driving In Space as told by the Twelfth Doctor in the Series 9 episode "The Zygon Inversion" (although it's possible he was joking when he said it).