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From the surface of the Earth, escape velocity (ignoring air friction) is about 7 miles per second, or 25,000 miles per hour. Given that initial speed, an object needs no additional force applied to completely escape Earth's gravity. Answered by: Paul Walorski, B.A. Physics, Part-time Physics Instructor.
Converting that answer to feet gives almost 1478 feet per second, the escape velocity at Asteroid Ceres. As a double check, we can compute Ceres' escape velocity in reference to the Moon. The mass of Ceres is 1/100, or 0.01 of the Moon's, and its diameter compared to the Moon's is 290 miles/1080 miles, or 0.269. Dividing mass by radius (0.01 divided by 0.269) gives us 0.037. Taking the square root of 0.037 = 0.19.