1) An earthquake is caused by the sudden release of elastic energy stored in rock along faults. This causes seismic waves that can be measured by seismographs.
2) The location and size of earthquakes are determined by analyzing seismic wave arrival times and amplitudes recorded by multiple seismographs. Larger quakes are capable of more destruction through ground shaking and triggering other hazards like tsunamis and landslides.
3) Earth has a layered internal structure consisting of a crust, mantle, and core based on differences in composition and physical properties. The crust and upper mantle form the rigid lithosphere, while the lower mantle and outer core are able to flow over long timescales.