Since the Columbia accident, NASA has added some really cool cameras to the shuttle solid rocket booster systems — the result is some spectacular videos and views of the shuttle during launch never been seen before.
Check out this particular video, at about the 2m:58s mark, where you see Discovery streaking off into space after the rocket booster separation. Really spectacular. Click for just the SRB separation. The rest of the video with the booster falling to earth and in the water is pretty wild too. Other cool videos can be found on the NASA site like this one with the external tank falling to the Earth.