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Colloquially referred to as one of the hardest professions, rocket science is actually a common name for spacecraft/space-systems engineering. However, one can also generalize this to include all forms of rocketry, including rockets that are not capable of space travel.

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Does the density of a rocket exhaust relative to the outside air effect the thrust?

For example, if the rocket exhaust was lighter than the outside air, would this give more thrust(since the exhaust should not "sink" in the air)?