How do you find terminal velocity?

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yoyopizza
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So I have a limited knowledge of physics, and so every article i have attempted to read contains to much technical jargon for me to understand. Can you please explain how, if given say a sphere, what measurements would need to be known? How would I go about calculating terminal velocity? Also with any equation please state what each variable actually stands for. Thanks!
 
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I figured it was, even I know that terminal velocity isn't zero.