Galileo showed that all objects accelerate at the same rate when falling, due to gravity, regardless of their mass. Heavier objects experience a greater force of gravity but require more force to accelerate them, so the acceleration is the same. Acceleration is the rate of change of an object's velocity over time and is directly proportional to the net force acting on an object and inversely proportional to its mass, as stated in Newton's Second Law of Motion. Newton's Three Laws of Motion describe the relationship between an object's motion and the forces acting upon it.