Most commonly, an escarpment is a transition from one series of sedimentary rocks to another series of a different age and composition. When sedimentary beds are tilted and exposed to the surface, erosion and weathering may occur differentially based on the composition. Less resistant rocks will erode faster, retreating until the point they are overlain by more resistant rock (see cross section schematic). When the dip of the bedding is gentle, a cuesta is formed. Steeper dips (greater than 30-40°) form hogbacks.
Escarpments are also frequently formed by faults. When a fault displaces the ground surface so that one side is higher than the other, a fault scarp is created. This can occur in dip-slip faults, or when a strike-slip fault brings a piece of high ground adjacent to an area of lower ground.
More loosely, the term scarp describes the zone between coastal lowlands and continental plateaus which have a marked, abrupt change in elevation caused by coastal erosion at the base of the plateau.
Earth is not the only planet where escarpments occur. They are believed to occur on other planets when the crust contracts, as a result of cooling.
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