"The cat jumps away from under the lamp, which falls onto the table."
Translation:A macska elugrik az alól a lámpa alól, amelyik az asztalra esik.
"Esik le" - it is falling right now.
"Leesik" - it falls down, more general statement.
I would say both are perfect.
Is there any rule about where to place the subjects? Can you chose freely or does it change wether the subject is e.g. a person, indefinite etc. , or if the verb is e.g. transitive etc?