I tried to produce an explanation for my kid who, incidentally is 5, but I couldn’t come up with anything that I could really explain in a way that he could understand.
In addition to the response from r/Fby54, the sound you hear is due to the vibration of the doorstop vibrating the surrounding air at a specific frequency humans are able to hear. (Hearing range for humans is between 20-20000 hertz)
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