Destructive plate boundary.
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Seismic waves affect us because they are what causes the motion from an earthquake that destroy buildings and such. The three types of seismic waves are surface waves primary waves also called P-waves and secondary waves also called S-waves.
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S waves, or secondary waves, are transverse seismic waves, meaning that the particles being effected by the wave are moving perpendicular to the wave's propagation.
Tectonic plates are always trying to slowly move, but they more often than not find another tectonic plate in there path of motion. After enough pressure is built up between these plates trying to move past each other, a sudden "jerk" between them happens, and the restoring force from this "jerk" causes the waves we call "seismic waves" to happen.
Seismic sea waves are also called a tsunami.