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If the drag force can be defined as 1/2 Cd A v^2, where Cd is coefficient of drag, and A is cross sectional area, then there is a closed form solution for an dropped object with only a vertical component of velocity. Wiki link, click on "show" for the derivation:
https://en.wikipedia.org/wiki/Terminal_velocity#Derivation_for_terminal_velocity
https://en.wikipedia.org/wiki/Terminal_velocity#Derivation_for_terminal_velocity