They were called "Rockoons", a portmanteau of Rocket + Balloon.
The closest thing to a Rockoon still in use is probably the Pegasus launch system by Orbital Sciences, in the sense that a space launcher is first carried to a high altitude.
The carrier aircraft, since it is traveling close to Mach 1, may contribute a little more starting energy than a balloon. But the kinetic and potential energy contributed by the airplane seem minor compared to the elimination of the aerodynamic drag that a rocket launched from the ground would otherwise experience during the first minute or so of flight while it is climbing to the aircraft's altitude and velocity. The rocket doesn't have to be engineered to withstand those forces, so it can be lighter.
It can also ignite in a nearly horizontal attitude with correspondingly lower gravity losses than a rocket launched vertically from the ground. And the rocket can be optimized for a higher altitude.
Even the airplane's (or balloon's) energy contribution, as small as it is, does reduce the required delta V, and every little bit can be useful given the exponential nature of the Tsiolkovsky equation. Another way to see this is that a rocket with a given thrust and I
sp consumes the same amount of propellant per second whether it is moving at Mach 10, Mach 1 or barely moving at all, but it increases its kinetic energy much more quickly in the former cases.
I.e., the power efficiency of rockets is horrendous at low speeds, which is one reason (among several very good ones) why they're rarely used to propel cars.