The gravitational pull is causing the satellite to orbit around because the pull is the same all the way around. If it ever managed to leave the gravitational pull, it would just wander pretty aimlessly and even then it would go in a straight line.
Hope this helps!
Comment: In more "scientific" Words :
1. The satellite has a velocity that is along the line of its orbit ( in other Words "tangential" to the orbit, at any instant).
2. The planet, that the satellite orbits, is trying to pull the satellite in the direction of the planet.
3. The combination of these things results in the curved path. The satellite is constantly being diverted from its direction at a tangent to the orbit by gravity.
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