Refraction:
Consider a wave hitting a new medium - one in which is travels more slowly. This would be like light going from air into water. The light has a certain frequency (which is unchangeable, since its set by whatever atomic process causes it to be emitted). The wavelength has a certain amount set by the equation, c = f l, where l is the wavelength (Greek symbol, lambda).
When the wave enters the new medium it is slowed - the speed becomes lower, but the frequency is fixed. Therefore, the wavelength becomes smaller (in a more dense medium).
Note also that the wave becomes "bent." Look at the image above: in order for the wave front to stay together, part of the wave front is slowed before the remaining part of it hits the surface. This necessarily results in a bend.
MORE DETAIL:
The general rule - if a wave is going from a lower density medium to one of higher density, the wave is refracted TOWARD the normal (perpendicular to surface) line. See picture above.
Refraction is much different than reflection. In refraction, light enters a NEW medium. In the new medium, the speed changes. We define the extent to which this new medium changes the speed by a simple ratio, the index of refraction:
n = c/v
In this equation, n is the index of refraction (a number always 1 or greater), c is the speed of light (in a vacuum) and v is the speed of light in the new medium.
The index of refraction for some familiar substances:
vacuum, defined as 1
air, approximately 1
water, 1.33
glass, 1.5
polycarbonate ("high index" lenses), 1.67
diamond, 2.2
The index of refraction is a way of expressing how optically dense a medium is. The actual index of refraction (other than in a vacuum) depends on the incoming wavelength. Different wavelengths have slightly different speeds in (non-vacuum) mediums. For example, red slows down by a certain amount, but violet slows down by a slightly lower amount - meaning that red light goes through a material (glass, for example) a bit faster than violet light. Red light exits first.
In addition, different wavelengths of light are "bent" by slightly different amounts. This is trickier to see, but it causes rainbows and prismatic effects.
Some animation, etc.:
http://faraday.physics.utoronto.ca/PVB/Harrison/Flash/Waves/Refraction/Refraction.html
http://www.animations.physics.unsw.edu.au/jw/light/Snells_law_and_refraction.htm
http://www.freezeray.com/flashFiles/Refraction2.htm
https://phet.colorado.edu/en/simulation/bending-light
And all of this helps explain how lenses form images.
Some animation, etc.:
http://faraday.physics.utoronto.ca/PVB/Harrison/Flash/Waves/Refraction/Refraction.html
http://www.animations.physics.unsw.edu.au/jw/light/Snells_law_and_refraction.htm
http://www.freezeray.com/flashFiles/Refraction2.htm
https://phet.colorado.edu/en/simulation/bending-light
And all of this helps explain how lenses form images.
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