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Fractures in Earth's crust, or lithosphere, where sections of rock have slipped past each other are called faults. Earthquakes are caused by the sudden release of accumulated strain along these faults, releasing energy in the form of low-frequency sound waves called seismic waves. Although thousands of earthquakes occur each year, most are too weak to be detected except by seismographs, instruments that detect and record vibrations and movements in the Earth. The point where the earthquake originates is the seismic focus, and directly above it on Earth's surface is the earthquake's epicenter. Three kinds of waves accompany earthquakes. Primary (P) waves have a push-pull type of vibration. Secondary (S) waves have a side-to-side type of vibration. Both P and S waves travel deep into Earth, reflecting off the surfaces of its various layers. S waves cannot travel through the liquid outer core. Surface (L) waves—named after the nineteenth-century British mathematician A.E.H. Love—travel along Earth's surface, causing most of the damage of an earthquake. The total amount of energy released by an earthquake is measured on the Richter scale. Each increase by 1 corresponds to a tenfold increase in strength. Earthquakes above 7 on the Richter scale are considered severe. The famous earthquake that flattened San Francisco in 1906 had a magnitude of 7.8.