The only reason these two items are theorized is due to the apparent structure of the universe. Scientists have a hard time believing that the content of the universe-the stars, the galaxies-are all loosely bound by gravity from normal matter because it isn't strong enough. Without a structure, the stars might travel aimlessly through the universe, never clumping together to form any galaxies. So that is where scientists think something invisible that doesn't emit or reflect light comes into play and gives shape to the universe.
Take a look at this video that illustrates and explains Dark Energy and Dark Matter in depth. Watch from beginning to 1:18 to learn the basics. Continue watching for additional information
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