Why did the 10 tribes break away from judah?

After King Solomon died his son Rehoboam became king. The ten tribe leaders came to Rehoboam and said (I Kings 12:1-17), "Your father made our yoke heavy; now therefore lighten the burdensome service of your father, and his heavy yoke, which he put on us and we will serve you." To make a long story short Rehoboam refused and so the ten tribes broke away from the full kingdom of Israel and made a new kingdom of the northern ten tribes.