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Thunder is merely the rumbling sound that lightning creates. You hear the thunder after you see the lighting because light travels faster than sound. Lightning is the light that is emitted, and thunder is the sound.
When lightning strikes, it heats up the air a lot and causes it to expand with an explosive sound (thunder). EDIT: Ground shaking is an earthquake. Thunder accompanies thunderstorms, which have lightning. Thunderstorms are created by a cooler air mass colliding with a warm air mass, forcing the warm air mass up rapidly, decreasing pressure, temperature, and water saturation capacity, and creating lots of rain.