http://galileoandeinstein.physics.virginia.edu/tns_draft/tns_160to243.html
...
Then as the diminution of the outside impetus continues, and
gravitation gains the upper hand, the fall begins, but slowly at first on account of the opposing impetus, a large portion of which still remains in the body; but as this continues to diminish it also continues to be more and more overcome by
gravity, hence the continuous acceleration of motion.
...
So therefore this impressed force may exceed the resistance of
gravity so slightly as to raise it only a finger-breadth; and finally the force of the projector may be just large enough to exactly balance the resistance of
gravity so that the body is not lifted at all but merely sustained. When one holds a stone in his hand does he do anything but give it a force impelling it upwards equal to the power of
gravity drawing it downwards?
...