Earthquakes are caused by the sudden release of energy from faulting or breaking of rocks deep within the earth. The majority of earthquakes occur along plate boundaries where tectonic plates are converging, diverging, or sliding past one another. Earthquakes generate seismic waves that radiate out from the hypocenter or focus, including P waves, S waves, and surface waves. The location and magnitude of earthquakes can be determined through analysis of seismic wave arrival times recorded by seismographs. Larger earthquakes pose significant hazards through ground shaking and can potentially trigger destructive tsunamis.