Why can hydrogen and helium escape more easily from Earth than heavier gases?

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Hydrogen and helium escape from Earth’s atmosphere more easily than heavier gases because of their low molecular mass and the resulting high velocities they attain.12

The speed at which a gas molecule moves is proportional to the square root of the ratio of its absolute temperature to its molecular mass (T/M^{1/2}). Because hydrogen and helium have very low molecular weights (2 and 4, respectively), they move at higher average speeds than heavier molecules at the same temperature.3

To escape a planet’s gravitational field, a particle must reach escape velocity—for Earth, this is 11.3 km per second. In the exosphere, where molecular collisions are rare, these light, fast-moving atoms can reach velocities that allow them to overcome Earth’s gravity and escape into outer space. Heavier gases, conversely, have lower average velocities and are generally unable to reach the speed required to escape the planet's gravitational pull.3142