We all know that in an idealised world all objects accelerate at the same rate when dropped regardless of their mass. We also know that in reality (or more accurately, in air) a lead feather falls much faster than a duck's feather with exactly the same dimensions/structure etc. A loose explanation is that the increased mass of the lead feather somehow defeats the air resistance more effectively than the duck's feather.
Is there a more formal mathematical explanation for why one falls faster than the other?