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Mantle
The mantle is comparatively rich in iron and magnesium, so
ferromagnesian silicates, such as olivine and pyroxenes,
dominate.
Crust
The continental crust is poor in iron and magnesium, and
aluminosilicates such as feldspars dominate.
Rocks of this composition are sometimes referred to as felsic.
The oceanic crust is intermediate in composition between the
mantle and continental crust and has a mafic composition,
consisting of a roughly 50-50 mix of ferromagnesian minerals
and feldspar.
These differences in composition lead to differences in density,
which are ultimately responsible for the layering of the Earth, the
density of each layer decreasing outward.
The continental crust is the least of dense of these layers.
The fundamental reason why continents stick out above the
oceans is that continental crust is less dense than oceanic crust.
Convergent Boundaries Plates colliding with each other, causing subduction (Himalayas)
Divergent Boundaries One plate that is separating or tearing into two plates (Rift Valley)
Transform Boundaries Plates slide against each-other along transform fault (San Andreas)
http://www.allaboutgemstones.com/rock_cycle.html