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GH-39220: [Python] Let RecordBatch.filter accept a boolean expression in addition to mask array (#43043)

### Rationale for this change

`Table.filter()` already accepted either a boolean mask array or a boolean expression. But the equivalent method on `RecordBatch` only accepted the array. This makes both methods consistent in accepting both types of mask.

### What changes are included in this PR?

Consolidate the `Table.filter` and `RecordBatch.fitler` methods into a single shared method on the base class, and expanded the `_filter_table` Acero helper to also work with RecordBatch in addition to Table (and ensure to return a batch if the input was a batch)

### Are these changes tested?
Yes
* GitHub Issue: #39220

Authored-by: Joris Van den Bossche <jorisvandenbossche@gmail.com>
Signed-off-by: Will Jones <willjones127@gmail.com>