1) Seismic waves generated by earthquakes travel through the Earth's layers as body waves and surface waves. Body waves include P-waves and S-waves, while surface waves include Love waves and Rayleigh waves.
2) When seismic waves reach the Earth's surface, most of their energy is reflected back downwards. Some of this energy returns to the surface through reflections within soil and rock layers, causing stronger shaking at the surface.
3) Strong ground shaking during an earthquake is measured using instruments like seismographs, which have sensors to detect ground motions and recorders to log the measurements. Modern digital seismographs store shaking data internally.