Satellites are always being pulled to the ground. They just keep missing it.
When you throw a ball, it travels in an arc toward the ground. Throw it harder and it goes further before hitting the ground.
A rocket is able to move fast enough sideways that even though it is always falling down, it is always going past the earth on its way down. Because there is barely any air at orbital elevations, things can stay in orbit for decades in low earth orbit, or essentially permanently further out.
For a way to really get a feel for it, play Kerbal Space Program. It’s a great way to get used to orbital mechanics and it’s fun as hell
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