Oleic acid has a double bond between two carbons. In stearic acid all carbons are saturated with protons and they take a shape of a straight hydrocarbon chain. On contrary, the shape of the hydrocarbon chain in the oleic acid has a kink in the middle. If you put together multiple molecules of stearic acid, they will pack in a relatively dense structure, which will take more energy to break (higher melting temperature). Molecules of the oleic acid do not pack as tightly because they are "not straight". This (less dense) structure is easier to break, and the melting temperature is lower. This is a simplified answer, but hope it helps.
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