Interface waves on a single fracture in an elastic solid are investiga
ted theoretically and numerically using plane wave analysis and a boun
dary element method. The finite mechanical stiffness of a fracture is
modeled as a displacement discontinuity. Analysis for inhomogeneous pl
ane wave propagation along a fracture yields two dispersive equations
for symmetric and antisymmetric interface waves. The basic form of the
se equations are similar to the classic Rayleigh equation for a surfac
e wave on a half-space, except that the displacements and velocities o
f the symmetric and antisymmetric fracture interface waves are each co
ntrolled by a normalized fracture stiffness. For low values of the nor
malized fracture stiffness, the symmetric and antisymmetric interface
waves degenerate to the classic Rayleigh wave on a traction-free surfa
ce. For large values of the normalized fracture stiffness, the antisym
metric and symmetric interface waves become a body S wave and a body P
wave, respectively, which propagate parallel to the fracture. For int
ermediate values of the normalized fracture stiffness, both interface
waves are dispersive. Numerical modeling performed using a boundary el
ement method demonstrates that a line source generates a P-type interf
ace wave, in addition to the two Rayleigh-type interface waves. magnit
ude of the normalized fracture stiffness is observed to control the ve
locities of the interface waves and the partitioning of seismic energy
among the various waves near the fracture.