Most is already mentioned, clean and tight connections of all starter cables etc.
It sounds that what rjvj sais is very likely.
First fault:
Most starter motors have 4 brushes. 2 sets of 2 in parrallel. When the brushes are worn out the brush spring banks itself against the stop and the brush is unable to make proper contact with the commutator.
The high start current will have a higher resistance path.
The starter will still run but a lot slower on the single set of brushes.
Tapping may give you a good start but the problem will reoccur very soon.
Also check for voltage drop across your accu. Total drop at accu terminals should not go below about 9 volts during starting.
Second fault:
A starter is a dc motor and should not hum like an ac motor. It probably makes more like a whirring sound. That could be the armature running free because of a sticky solenoid which can not pre engage the starter pinion into the ring gear properly.
You need to take the starter out and clean it up, replace brushes etc. or get a reconditioned one.