Answer
Yes. Yes.
Work Step by Step
If a powered craft can maintain a speed of even 0.00000001 m/s away from the Earth's center, it will eventually escape from Earth.
This is discussed on page 200.
However, it should be noted that if an unpowered projectile is fired upward at an initial speed less than 11.2 km/s, (which is the so-called "escape speed" of the Earth at its surface), it will eventually fall back to the surface.
