Many quantitative questions about orbits can be answered using the vis-viva equation
$$v^2 = GM\left(\frac{2}{r} - \frac{1}{a} \right)$$
where $a$ is the semi-major axis, $r$ is the current distance to the central body and $v$ is the velocity at $r$, and the vis-viva equation comes straight from the principle of conservation of total energy which is the sum of kinetci and potential energy:
$$E = T + P$$
and the following two equations, one for each. These are written for reduced energy which is just energy per unit mass $m$ since it just divides out:
$$T = \frac{1}{2}v^2$$
$$P = -\frac{GM}{r}$$
All of the equations for delta-v required for Hohmann transfers and what not can be gotten from the vis-viva equation.
The tool we have to change orbits is impulse, a change in momentum. Whether we need to increase or decrease our velocity, it still requires momentum and therefore delta-v. The only question is "how much?"
We can work the problem without units if we just think of 1 AU as a distance of 1, the Sun's gravitational parameter $GM$ as 1 and the units of velocity as 2 $\pi$ AU/year, so let's do that.
Starting in Earth's orbit with a velocity for a circular orbit, our velocity is
$$v = \sqrt{\left( \frac{2}{r} - \frac{1}{a} \right)} = \sqrt{\left( \frac{2}{1} - \frac{1}{1} \right)} = 1$$
So in 1 year we will travel 2 $\pi$ AU.
If we want an elliptical orbit that goes from 1 AU to 0.4 AU (close to Mercury's orbit) then our new semi-major axis is $(1 + 0.4)/2$ or 0.7. At aphelion our velocity is now
$$v = \sqrt{\left( \frac{2}{1} - \frac{1}{0.7} \right)} = 0.76$$
so our delta-v is 0.24.
Instead if we want to leave he solar system we need a semimajor axis of $\infty$ so let's put that in:
$$v = \sqrt{\left( \frac{2}{1} - \frac{1}{\infty} \right)} = 1.41$$
which is a delta-v of 0.41, which is more than what we needed to just touch Mercury's orbit at perihelion.
But what if "get to Mercury" means establishing a circular orbit with $a=0.4$? That means we need a second impulse.
Our velocity at perhihelion in our elliptical transfer orbit is
$$v = \sqrt{\left( \frac{2}{0.4} - \frac{1}{0.7} \right)} = 1.89$$
and if we want to circularize it would have to be
$$v = \sqrt{\left( \frac{2}{0.4} - \frac{1}{0.4} \right)} = 1.58$$
so we need a second delta-v of 0.31 for a mission total of 0.24+0.31=0.55
So the reason we need 0.55 to reach a circular orbit at the distance of Mercury and only 0.41 to escape the solar system is...
Energy is always conserved.
Homework left for the reader:
- Once we reach infinity on our parabolic trajectory, how much delta-v is necessary to circularize? :-)
- How do these check out compared to delta-v tables? My velocity units are 2$\pi$AU/year, but those can be converted to km/s and compared directly to tables.