Gravitational relationship between two types of mass is investigated. It is proposed that the source of a dynamic scalar field that permeates all of space and defines the dynamics of the cosmos is the repelling self-gravitational nature of dark matter (DM) particles and the attractive gravitational nature between DM and baryons respectively. The model defines DM as a new form of matter and attributes self-antigravity to both baryons and DM and defines DM-Baryon gravitational interaction as like particles repel while unlike particles attract; a coulomb interaction. DM particles are proposed to permeate all of space, and arguably define space-time itself when describing Relativity Theory, and interact with baryons only gravitationally. To resolve the controversy of the apparent self-attraction of baryonic matter, metal-like force is proposed to produce Newtonian dynamics within cores of galaxies. In this metal-like attraction, same type mass (baryons) are gravitationally attracted to each other when a sea of other type DM “particles” are attracted to them and glue them together analogous to a metal bond. When baryonic objects defy their own repulsive nature and come close enough to each other, other dominant forces take place such as electromagnetic force. Normal matter is then created and further coalesces to form galactic structures. In light of this attraction-repulsion gravitational force, intergalactic self-repulsive DM particles are proposed to result in accelerating expansion of the universe. The model introduces new physics and explains the large scale structure of the universe. It also explains many cosmological anomalies and mysteries and removes gravitational singularity of black holes. An attempt to explain the model under the umbrella of Relativity Theory is presented.