1) Galileo Galilei proved in the late 1500s that all objects fall at the same rate due to gravity, regardless of their mass, contradicting Aristotle's belief that heavier objects fall faster. 2) Isaac Newton later explained that gravity is a force that exists between all objects due to their mass, and the strength of the gravitational force depends on the masses and distance between the objects. 3) The rate of acceleration due to gravity on Earth is 9.8 m/s2 for all objects, though air resistance can affect their actual falling speed depending on size and shape.