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Yes. Think of a loudspeaker cone moving back and forth. When the speaker moves one direction, it compresses the air in front of it. The compression propagates away at the speed of sound. When the speaker cone moves the other direction, it generates a rarefaction, and that disturbance also moves at the speed of sound. So a "push" gives a compression wave, and a "pull" give a rarefaction wave. It works in the ground pretty much the same as it does in air.

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