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Assuming we knew enough about how a dog behaves (or less ambitiously, a more primitive organism) I would assume this could be described in a formal language. But why would Principia be needed for this?It explains this directly before that phrase:
"Their language was dense and the work laborious, but they kept on proving a whole bunch of different truths in mathematics, and so far as anyone could tell at the time, there were no contradictions. It was imagined that at least in theory you could take this foundation and eventually expand it past mathematics: could you encode in pure logic how a dog behaves, or how humans think?"
>Math have been used to model natural phenomena a long time before Principia.
Which means little in this context. The question posed wasn't if you can use some math to describe some natural phenomenon.
The question posed was whether one could model the whole thing (e.g. how a dog behaves) in a formal language - not just take some isolated equations and apply it to this or that aspect of phenomenon (especially if it's a mere approximation). That they already knew, e.g. the equations for planetary motion.