I looked and am certain I saw it low in the southern sky headed SE. I had the iPad with me and was streaming the NASA-TV feed. When I saw the bright fast moving object - brighter and faster than a plane with landing lights on - it was during third stage burn and then it disappeared about when the third stage burned out. It was about 10* above the horizon
and when I should have been able to spot it: L + 120 seconds and then a few. From my vantage point it looked like a slightly climbing trajectory.
On the 4th of July I was in OC MD. Wallops had a double launch that day. Then, at night just as the fireworks were to start, my son an I saw three distinct small rocket leave the area where Wallops would be to the south at about 5 minute intervals. The flame could be seen as they rose and headed north up the coast. When each one was over head, the exhaust corona could be seen - just like you would expect if the engine was heading directly away from you while you looked right up the pipe! Very neat experience. No one else seemed to notice them except my son and me - and there were loads of people out for the fireworks. Nothing was mentioned in any source that I could find. My best guess is they were military, especially with the northward trajectory.