The overwhelming majority of the noise is due to combustion, and particularly the expansion of hot gases out through the exhaust valves into the tailpipe. While these are individual, discrete events, once those events occur often enough (somewhere around 20-30 events per second, or 20-30 Hz), your brain stops interpreting the noises as discrete sounds and instead interprets them at a continuous tone at a specific frequency correlating with the engine speed.
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