Rockets need to be able to create enough thrust FORCE to beat gravity and lift themselves off the ground. If the rocket needs to reach an orbit out there for delivering a satellite, or leave the Earth’s vicinity completely, then the rocket’s speed needs to eventually be bigger than escape velocity.
The issue is that the rocket’s fuel runs out, so, to escape, the rocket needs to be at faster-than-escape-velocity by the time its rocket engine turns off, or the Earth’s gravity will pull it back to the ground (a rocket with no fuel is like a rock, heh).
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