Ridiculous. You just make stuff up. Where's your math? They don't need to achieve escape velocity. Air Pressure would push/force them out into the vacuum. "Force" of gravity is not strong enough to counteract the air pressure pushing out into the vacuum. Helium balloons effortlessly counteract the "force of gravity" as do butterflies.
Where's YOUR math?
I'm glad to see you're not saying vacuums suck, because that's not really accurate. Saying gas pressure pushes is better. But gravity does counteract atmospheric pressure.
In this context, "not achieving escape velocity" is an equivalent way to say "being held back by gravity".
Any thing that escapes earth's gravity has to achieve escape velocity to do so. We use rockets for that. Gravity is more than strong enough to hold most things - including the molecules in the atmosphere - from escaping. Helium balloons rise to a point but neither they nor butterflies escape into space.
Molecules don't have rockets, but other mechanisms in the atmosphere can give them kinetic energy. Kinetic energy is .5 m v^2. For molecules of the same kinetic energy, the lower mass molecules have a higher velocity. And that's why, if they get enough energy, helium and hydrogen can and do escape. Other molecules can too, but they need a higher kinetic energy to have sufficient velocity.
I should add that the amount of matter that escapes is tiny compared to the mass of the atmosphere of the earth. Hydrogen is also added to the atmosphere by other means.