Refraction, in gross gory detail
When the wave enters the new medium it is slowed - the speed becomes lower, but the frequency is fixed. Therefore, the wavelength becomes smaller (in a more dense medium).
Note also that the wave becomes "bent." Look at the image above: in order for the wave front to stay together, part of the wave front is slowed before the remaining part of it hits the surface. This necessarily results in a bend.
The general rule - if a wave is going from a lower density medium to one of higher density, the wave is refracted TOWARD the normal (perpendicular to surface) line. See picture above.
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