It appears during most launches that the only engines working are the main first stage engines. It was my understanding that these engines are fixed in place and cannot turn the rocket, but I must be mistaken. What I am looking for is the mechanical system in place that slightly shift the engine direction so that the rocket can turn.
When a rocket launches and it begins to tilt into its orbit, how does it control this? Are the first stage engines able to move slightly to move the vehicle down range, or is there some other type of control that keeps the launch vehicle from heading directly upwards?