Radar has been around for over 100 years, and is now used with highly specialized and innovative technologies within modern defense and commercial applications. This white paper offers an in-depth overview of radar waveforms for aerospace, defense, and commercial radar systems, and of commercial radar sensors used for automotive safety applications. Other key topics include waveforms such as pulse and pulse-Doppler signals, continuous waves, frequency shift keying waveforms, and continuous waveform trends designed for specific needs and application differences of continuous wave radar compared to pulse radar systems.