Yes, sound waves are mechanical waves that need a medium to travel from one point to another point in space. In this case, the disturbance is handed over from one particle to another particle of the medium. Elastic property should be possessed by the medium. For the particle to gain kinetic energy, the medium should possess inertia. The velocity of sound in the elastic medium is given by \(v=\sqrt{\frac E\rho}\), where E is the elasticity of the medium and ρ is the density of the medium. Thus, elasticity, pressure, and inertia are the relevant properties of the medium on which sound waves depend.