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YES! meteors enter the Earth's atmosphere all the time: most are so
small that they burn-up in the atmosphere; if they're large enough
to survive and hit the ground, they become "meteorites."
A little history (in chronological order):
1) 65 million years ago: one theory scientists use to explain the
extinction of the dinosaurs is a large meteor, asteroid, or comet
hitting the Earth. Evidence for the crater such an impact would
have left has recently been found in the Yucatan Penninsula area.
2) a few tens of thousands of years ago: Meteor Crater was formed in
Arizona. It is about one kilometer wide. I recently saw a similar
but older crater in the Altiplano of Bolivia.
3) early this century: a huge fireball hit a remote region of Siberia.
Fun fact: the Earth gains about a million kilograms of mass per day
from meteors!
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