Sound is a form of energy that travels in longitudinal waves, requiring matter to transmit vibrations between particles. The speed of sound varies according to the medium, being fastest in solids and slowest in gases. Our ears can detect frequencies between 20-20,000 Hz, perceiving variations in pitch from low to high frequencies and loudness from soft to loud amplitudes. Musical instruments produce sound through vibration of different materials, while other technologies like sonar use sound waves for applications such as locating objects underwater.