It’s because most car motors are so called 4 stroke motors. Only one of these strokes contain the explosion the ignites the fuel. The other three strikes just prepare the cylinder for this. As a result, what you really have is a rapid series small booms. HOWEVER, since most motors have 4 or more cylinders, in any given point in the cycle, you have a small explosion. And when you consider how fast a car motor spins, normally between 1000 and 5000 revolutions per minute, all those many small booms come together to form the buzzing sound. Think of a bee. You don’t hear individual flaps of the wings, but the constant fast beating of the wings makes a buzzing sound. This is also how speakers and most sound works.
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