In the Frieza Saga of DBZ, when the Ginyu Force attacks Goku, he's sooo fast that it looks like he's absorbing all the attacks, but actually moving so quickly that it's barely noticeable, and we're shown his footprints which tell that he's moving at mind-boggling velocity.
In the battle with Frieza as well, they move so fast that it's barely noticeable to Krillin who's a human being. Considering that Goku's powers have risen exponentially since then and when the Androids arrive on earth, the fighting sequences which depict them just do not have the velocity it had in Frieza Saga. The only way we're left to perceive that Androids are stronger than Frieza is because the story tells us that and because a small blow the androids give makes a huge blow for Goku/Vegeta (before they enter hyperbolic time chamber).
Also, if just turning super saiyan and a few blows from the transformed frieza destroyed the planet namek - then how does planet earth survive for so long with cell and super saiyan 2 levels? How much stronger is earth than namek?