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There are many variables to consider in this question, such as the type of rocket, the distance to Mars at the time, the time involved in Lift Off from Earth, and descent to Mars, etc.

Mars is orbiting the Sun, as is the Earth, which means distances are always changing.

On 'average,' the distance to Mars is about: 156.9 million miles

Recently (November 2011) NASA sent a rocket carrying the Curiosity Rover to Mars.

It took 254 days from liftoff to landing on Mars.

NASA calculated and waited until Mars was closer to Earth, which was significantly closer than the 'average' distance.

The distance to Mars at this time was 'only' 127 million miles (29 million miles closer).

To reach Mars in 254 days at this distance, not figuring in fine details such as liftoff and descent, the rocket carrying Curiosity had to be traveling at speeds of about 500,000 miles per day, or about 21,000 miles per hour (roughly 347 miles per minute or roughly 6 miles per second).

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