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Sound is an oscillation of pressure transmitted through a gas, liquid, or solid in the form of a traveling wave, and can be generated by any localized pressure variation in a medium. An easy way to understand how sound propagates is to consider that space can be divided into thin layers. The vibration (the successive compression and relaxation) of these layers, at a certain velocity, enables the sound to propagate, hence producing a wave. The speed of sound depends on the compressibility and density of the medium.
In this chapter, we will only consider the propagation of sound waves in an area without any acoustic source, in a homogeneous fluid.