When they lift off the ground, yes, they’re quite slow. A huge percentage of the weight of the rocket is fuel, so when it first lifts off the pad, the thrust produced is only a little higher than the weight of the rocket. As they get lighter, the thrust to weight ratio gets higher, and the further up in the atmosphere they are, the more thrust the engines make.
The other part of this is perception of speed. The speed is a lot less obvious as they get further away though due to perspective and relativity. If you’ve ever watched a jet fly across the sky, they don’t look like they’re really moving all that fast. However, if you were 35 feet away rather than 35,000, it’d zoom past you in the blink of an eye.
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