VFR Departure from Controlled Airport

[HRutila]

There are only two circumstances that you can switch frequencies on your own: when holding short of the active runway ready for departure and when departing a Class D airport under visual flight rules (VFR). You can switch to tower frequency automatically from ground and you can switch to another frequency than tower when departing the Class D airspace. Under both circumstances, you do not need to be told to contact another controller or that frequency change is approved.

I have looked in the AIM, FAR and 7110... I know this is true but I cannot find where... Mind helping me out with a reference section please?

4-3-14. Communications

a. Pilots of departing aircraft should communicate with the control tower on the appropriate ground control/clearance delivery frequency prior to starting engines to receive engine start time, taxi and/or clearance information. Unless otherwise advised by the tower, remain on that frequency during taxiing and runup, then change to local control frequency when ready to request takeoff clearance.

NOTE-
Pilots are encouraged to monitor the local tower frequency as soon as practical consistent with other ATC requirements.

REFERENCE-
AIM, Automatic Terminal Information Service (ATIS), Paragraph 4-1-13.

b. The tower controller will consider that pilots of turbine-powered aircraft are ready for takeoff when they reach the runway or warm-up block unless advised otherwise.

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4-3-2. Airports with an Operating Control Tower

a. When operating at an airport where traffic control is being exercised by a control tower, pilots are required to maintain two-way radio contact with the tower while operating within the Class B, Class C, and Class D surface area unless the tower authorizes otherwise. Initial callup should be made about 15 miles from the airport. Unless there is a good reason to leave the tower frequency before exiting the Class B, Class C, and Class D surface areas, it is a good operating practice to remain on the tower frequency for the purpose of receiving traffic information. In the interest of reducing tower frequency congestion, pilots are reminded that it is not necessary to request permission to leave the tower frequency once outside of Class B, Class C, and Class D surface areas.

[Peter Grey]

Yes, HR has it.

I was trying to answer a different question. "What allows you to depart on your own course VFR after departure."