Earthquakes occur when stress causes rocks within the Earth's crust to rapidly fault or fracture, releasing energy. They originate at a focus below the surface and the point directly above on the surface is called the epicenter. By measuring the arrival times of P and S waves from an earthquake at three different seismograph locations, triangulation can be used to locate the epicenter on a map. The Earth has a solid crust and mantle underlain by a liquid outer core and solid inner core, with increasing temperatures and densities toward the center.