Earthquakes are caused by the sudden release of elastic energy stored in rock. The focus is where the earthquake originates within the earth, and the epicenter is the point directly above on the surface. Seismographs record earthquake waves, including P and S body waves and surface waves, which can be used to locate the epicenter. Earth's interior consists of layers defined by composition - the crust, mantle, and core - and by physical properties like density and rigidity.