It’s because they are slightly behind the beat. Sound travels about 300 meters per second.
The music venue can easily be dozens of meters in size. So the sound has to travel from the scene to the audience and then back again, taking a few tenths of a second in time. People in the audience might feel like they are in the beat, but if the concert is being recorded at the scene, it sounds like they are lagging behind.
Sound takes time to travel from point a to b.
Say you are standing in the endzone of a football field (100 yards) with perfect acoustics and a sound reflector in the other end zone.
You clap your hands. ~0.267 second later the sound of the clap reaches the reflector. ~0.267 seconds after that (or about 0.533 seconds total) you hear the echo of your clap.
No imaging there is a person standing every 10 yards. The guy 10 yard from you hears your clap ~0.027 seconds after your clap. 20 yards equal ~0.53. 30 = ~0.080.
So each person tries to match your claps based on when they hear it, but they do not hear it all at the same time.
The result from your standpoint is a cascade of claps, each a little later than the other.
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