is there a difference between pancakes and waffles?

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my mom is a good cook and she loves preparing yummy breakfast for me! one of her favorite breakfast dishes are waffles and sometimes pancakes. i was just wondering if there was really a big difference in them because as i have observed, they taste the same. do they really have a difference or do they only differ in one quality, which is their shape? please do share your opinions here. thanks! :)