When you shake a soda you are essentially releasing the CO2 dissolved in the liquid. Since the gas leaving the liquid occupies more space than it would when dissolved in the liquid, the soda wants to bubble out when you open the cap. (Bubbling is the formation of gas in a liquid) By recapping you are closing the outlet of where the soda would bubble out from. Instead the gas releases into the bottle. After some time when you open the bottle again the gas simply escapes the bottle and you generally hear a loud hiss. This is why when you take an unshaken bottle you will notice the bottle is less stiff than after you shake it because the gas has now escaped the liquid and is pushing out out on the bottle (the gas is under pressure as it would like to occupy more space than it has).
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