This document summarizes the internal structure of Earth based on seismic wave studies. It describes the crust, mantle, outer core, and inner core. The crust is thinner under oceans than continents and consists of less dense granite and more dense basalt. There is a sharp boundary between the crust and mantle. The mantle is divided into upper and lower sections. The outer core is liquid while the inner core is solid. Plate tectonics involves rigid lithospheric plates floating on the mantle that move and interact at boundaries.