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All IPCC definitions taken from Climate Change 2007: The Physical Science Basis. Working Group I Contribution to the Fourth Assessment Report of the Intergovernmental Panel on Climate Change, Annex I, Glossary, pp. 941-954. Cambridge University Press.
Greenhouse gasses, principally CO2, have controlled most ancient climate changes. This time around humans are the cause, mainly by our CO2 emissions.
Greenhouse gasses – mainly CO2, but also methane – were involved in most of the climate changes in Earth’s past. When they were reduced, the global climate became colder. When they were increased, the global climate became warmer. When CO2 levels jumped rapidly, the global warming that resulted was highly disruptive and sometimes caused mass extinctions. Humans today are emitting prodigious quantities of CO2, at a rate faster than even the most destructive climate changes in earth's past.
Abrupt vs slow change.
Life flourished in the Eocene, the Cretaceous and other times of high CO2 in the atmosphere because the greenhouse gasses were in balance with the carbon in the oceans and the weathering of rocks. Life, ocean chemistry, and atmospheric gasses had millions of years to adjust to those levels.
But there have been several times in Earth’s past when Earth's temperature jumped abruptly, in much the same way as they are doing today. Those times were caused by large and rapid greenhouse gas emissions, just like humans are causing today.
So yes, the climate has changed before humans, and in most cases scientists know why. In all cases we see the same association between CO2 levels and global temperatures. And past examples of rapidcarbon emissions (just like today) were generally highly destructive to life on Earth.