Yes, you can get the passport at the VFS office but timings are unsure. My hubby went the same day (Friday) to the Chennai VFS office but his passport had not arrived yet. They told him to come back on Monday. Sometimes it is available the next day, not same day. You just have to go and see.
I would be careful Jigi, allow a week at least before you depart to USA. What if there is any unexpected event like holiday, strike etc., that could delay you getting the passport. My motto: better safe than sorry!