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Good question, watani, and not an easy answer. This is a topic on which there is not a lot known. One of the best studies—in fact, the first to record earthquake sounds—dates to 1986! Many factors contribute to the “sound” that an earthquake makes. In brief, yes, the boom emanates from the ground shifting. (Again, simply put), quakes generate P waves first that move back-and-forth, and followed by S waves that move with more of a sideways motion. The P waves, which travel fastest, create the sound. The stronger S waves, follow within seconds and vibrate more slowly.
BTW, in very strong earthquakes, both waves may be felt; in small quakes, usually only the S wave/s may be felt—but the sound of the P wave may be heard. Note, too, that P and S waves refer underground effects; these are not waves that travel on Earth’s surface.

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