Language: "I'm rolling a ball down a hill." Seems like we create those words to describe what we understand from nature. When we understand more, we add more words, "...under the influence of gravity" or "under an apparent natural acceleration of 9.8m/s•s." We discover acceleration/gravity, and we describe it.
I guess if you think there are no other mathematical models to describe motion, you could say we discover math. And yet, the Ancients had very different mathematical models for motion in space because their frame of reference was earth, not the sun. So, their math was different.
I could probably make an opposite case as well, though.