1. http://nasawatch.com/archives/2013/07/composite-cryog.html
1. http://nasawatch.com/archives/2013/07/composite-cryog.html
One of the secrets is dense propellants which increases mass ratio considerably. It also makes higher thrust to weight ratio engines easier to implement (because pumps primarily pump volume rather than mass), and with identical initial acceleration, the dense propellant higher mass ratio lower impulse vehicle gets lighter faster and thus has higher acceleration towards the end of the flight, meaning less gravity losses. (Also air drag is less with a smaller vehicle, but it's not a big effect, though it is proportionally bigger for smaller vehicles.)
Hydrogen has the best specific impulse but it is non-dense. It is also hard cryogenic, meaning potential complexity in the vehicle, ground infrastructure and operations.
Also, big vehicles might be more expensive, even if their contents (the propellants) don't weigh much.
Sort of like how the Saturn V is considered a 3-stage rocket, even though during the later Apollo missions it had on top a service module, a command module, and a (two stage!) lunar module.
Also, if the mission is something like transport astronauts to the ISS, why eject any stages at all? Why not just make the rocket capable of flying to the ISS, let the whole thing dock to the ISS, exchange astronauts, then detach and land back on Earth?
(Of course, if there are tons of missions happening around the same time, all requiring a first stage rocket, and each mission has a period that doesn't require any rocket, then I see the point of letting the rocket go back and be used for other things.)
Because that requires a single-stage-to-orbit vehicle, which has never been done before. Yes, in the future that might be possible.
Staging is done because not doing it ("SSTO" or "single stage to orbit") is extremely hard. In fact, it has never been done before from earth. When that second stage burns, it is only accelerating the mass of itself and the Dragon spacecraft on top. Having it accelerate the mass of the lower stage as well would be massively inefficient, requiring much more fuel to be used. So much more fuel that there most likely would no be any mass left over for the Dragon spacecraft. Without staging we wouldn't be able to put things in orbit at all (today and in the past anyway), let alone reuse rockets.
It's not a complete waste though. I believe at the ISS they usually pack those sorts of parts (parts that burn up that is. Other examples being the Russian "Progress" spacecraft or the ESA's ATV) full of garbage before sending them off. Intact reentry volume/mass is valuable (currently only the Soyuz and the Dragon can do that) so they just let all of their trash burn up. Here's a neat picture of the first ATV, carrying a bunch of ISS trash, burning up: http://en.wikipedia.org/wiki/File:Jules_Verne_Automated_Tran...
Essentially, Physics. To a lesser extent, practicality and cost.
See The Tyranny of the Rocket Equation[1] or the "Model Rocketry" entry of xkcd What-If[2]
[1] http://www.nasa.gov/mission_pages/station/expeditions/expedi...
Also, the lower stage engines are optimized for working in the low atmosphere while the second stage only needs to operate in a vacuum and therefore, has a different design.
An SSTO--single stage to orbit--vehicle would be safer, more reliable, and above all cheaper to operate than a multi-stage vehicle, but every attempt to make something light enough that it can reach orbit with all its fuel tanks still aboard has failed. A two-stage rocket where the stages return to the pad under their own power is still a big improvement over the traditional model, with three or more stages that are simply dropped into the ocean to be recovered later.
TECHNICAL FEATURES
* Linear aerospike engine [first ever tried]
* Conformal composite LH2 tank [first ever tried]
* Integrated advanced metallic thermal protection [first ever tried]
* Subcontractors in 38 states and 122 congressional districts
The level of complexity in the Venturestar design meant that it could never have achieved the lightweight mass fractions needed for an SSTO. If there is ever to be an SSTO, it will be simple and elegant. But "simple" and "infinitely divisible into a large number of congressional districts" are mutually incompatible, which is why the US government chose the Lockheed Martin design over the vastly more realistic Macdonald Douglas DC-Y: http://www.astronautix.com/lvs/dcy.htm