Sound is a form of energy that travels in waves from a vibrating object. It can travel through solids, liquids, and gases in the form of compression waves. The ear detects sound waves and transmits signals to the brain. Properties of sound waves include frequency, wavelength, amplitude, and pitch. The speed of sound depends on the medium and temperature, being fastest in solids and slowest in gases. Reflection and refraction of sound waves results in phenomena like echoes and resonance. Doppler effect changes the perceived frequency of a sound based on the motion of its source.