Simply put, audiable register of high frequency vibrations.
When you rub any 2 items together, despite it feeling smooth, its technically slide/grip/stop/slide/grip/stop. If these vibrations are too large then you can get pad squeal as it vibrates against the caliper housing/piston/backing plate/disc.
Easiest way to explain is the simple knife/fork on a plate or nails on a blackboard......same thing.