Waterfalls for over bands of more and less resistant rock. Differential erosion takes place where the softer rock is more easily eroded than the harder rock.
Hydraulic action takes place, when water flows over the hard rock and air is compressed into the riverbank causing materials to be dislodged.
The dislodged materials fall and swirl around creating a deep plunge pool through the process of abrasion, when the force of the water throws bedload against the banks causing erosion.
Undercutting causes an overhang of the hard rock and over time the hard rock becomes unsupported and collapses due to gravity into the plunge pool.
Attrition can occur here, which erodes the waterfall further upstream towards the source forming a gorge