Finding the position as function of time corresponds to solving a differential equation. In the theoretical case of falling on a central body in a straight trajectory there is a rather simple expression for the solution:
corresponds to the extrapolated time of the fictitious arrival at the center of the central body; either t is negative, or t is the time until this arrival, counting down.
To count down to impact at the surface, apply a time shift; for the Earth (and any other spherically symmetric body with the same average density) as central body this time shift is 6 minutes and 20 seconds; seven of these periods earlier the height above the surface is three times the radius, etc.
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