This work presents Continuous Matter Condensation Dynamics (CMCD), a cosmological framework based on a single, simple physical mechanism that links the origin of matter directly to the evolution of the gravitational potential. In CMCD, any creation of baryonic matter must be balanced energetically by a corresponding change in the global gravitational potential. This process injects energy into spacetime and naturally produces both matter and expansion, unifying phenomena that standard cosmology treats as separate. The model is self-consistent, contains no free parameters, and is conceptually simple enough to be explained without advanced mathematics. CMED replaces a descriptive cosmology with a mechanistic one: cosmic acceleration, baryon production and emergent gravitational strength come from this underlying principle. The framework has clear, falsifiable predictions for the evolution of the effective gravitational coupling, the baryon creation rate, and the acceleration scale governing galaxy dynamics. The work is released to encourage verification, testing, and falsification by the wider cosmology community.