An earthquake is caused by a sudden release of energy at a focus within the Earth. There are two main types of seismic waves generated: P-waves and S-waves. P-waves travel faster and arrive first, while S-waves oscillate perpendicular to their direction of travel. Surface waves travel along the Earth's surface and can cause significant damage to structures and utilities. Earthquake location can be estimated through triangulation using travel time differences of seismic waves recorded by multiple stations. Earthquake strength is measured by both the Richter scale based on amplitude of seismic waves, and the Modified Mercalli scale based on extent of damage observed.