Intersection of O(n) expanding circles with line from the origin
The solution outline:

Step 1. Verify, that all the initial (at the moment $t=0$) wave circles don't contain your starting point $(0,0)$. If yes, then continue - otherwise exit, no escape.

Step 2. For each wave circle $W_i$ you need to find an escape sector - the range of directions, where the escape is guaranteed.

Imagine a circle of your possible positions at moment $t$ with center in $(0,0)$ and radius $pt$ - we'll call it the circle $C$. Let's consider what will happen with circles $C$ and $W_i$ with time. Originally (when $t=0$) the circle $C$ is just a point at $(0,0)$. Then, with time increasing, the expanding circle $C$ will at first touch the expanding circle $W_i$ at a single point, then intersect it at two points. Moving further, at some point of time the expanding circle $C$ will touch the circle $W_i$ again at a single point, then it will contain the circle $W_i$ completely (because $p \gt s_i$).

Two intersection points between circles $C$ and $W_i$ define a no-escape sector. This sector angle $\alpha$ grows from zero to some maximal value and then decreases to zero again. Cosine of this half-angle at the moment of time $t$ can be found from the triangle with all known sides:

$$\cos(\frac {\alpha} {2}) = \frac {(pt)^2+d_i^2-(r_i+s_it)^2} {2d_ipt}$$

where $d_i = \sqrt{x_i^2+y_i^2}$.

You need to find positions of intersection points, which will give you this maximal angle value. In order to do that you can take first derivative of the non-escape sector half-angle by time and set it to zero - that will give you the moment of time when the non-escape sector is maximally wide. This moment of time $T_i$ will be:

$$T_i = \sqrt{\frac{d_i^2-r_i^2}{p^2-s_i^2}}$$

Knowing the non-escape sector you'll easily find the escape sector. 

Step 3. If intersection of all the escape sectors is non-empty, then the escape is possible.

The algorithm time is obviously $O(n)$.