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The usual method is popping them out of a vertical launch tube, using pressurized gas, barely below the surface.
The rocket motor kicks in as soon as the missile clears the water.
Well, the missile has to get out of the water after being launched by a submarine somehow!
Missiles don’t have propellers…
They also tend to have at least 8 fins (2 sets of 4) rather than that sleeve/duct torps have.
Edited
More of a sea surface to air missile