The velocity of a falling object when the weight of the object (force acting downwards) is balanced by a frictional force acting upwards on the object (since these forces are balanced the object will fall witj a constant velocity)
A satellite stays in orbit because it is falling towards the earth's surface at the same rate as the earth's surface is curving away from the satellite
An object at rest will remain at rest unless acted upon by any unbalanced force. An object in motion will remain in motion with the same speed and direction unless acted upon by am unbalanced force
When an unbalanced force acts on an object it causes it to accelerate in the direction of the unbalanced force. This acceleration is directly proportional to the unbalanced force and inversely proportional to the mass.
Mass is lost as fuel is used up. Therefore the weight of the rocket decreases. The unbalanced force upwards increases, therefore acceleration increases.