If the battery is low, the starter solenoid may still receive enough voltage to move its armature against spring tension and close its contacts to send battery current to the starter motor. However, as soon as the starter is energized, the current drain is so great that the voltage at the starter relay falls below the level required for the armature to overcome spring tension, and its contacts open.
As soon as the contacts open, the starter ends its current drain and the voltage at the starter relay returns to a level high enough to move its armature against spring tension and close its contacts to send battery current to the starter motor.
Rinse and repeat, many times per second.