Lets imagine an instant in time, without gravity. The satellite is above some special point on the earth, and is moving quite fast. Of course, the Earth is turning. If the Earth were flat, then this would be like it moving in the same direction as the satellite, at the same speed. Since it isn’t flat, though, the special point is actually “falling away” from the satellite.
Now let’s add gravity. Gravity causes the satellite to fall towards the earth. Geosynchronous orbit happens when the Earth is falling away from the satellite at the same speed that the satellite is falling towards the Earth.
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