Your understanding might be that your mother will always drive you to school if you miss the bus. Or about how something works: How to use understanding in a sentence.
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Both comprehension and understanding can be used to talk about someone's ability to understand something. Understanding implies abilities and dispositions with respect to an object. Comprehension usually used with of.
The meaning of understanding is a mental grasp :
Knowledge about a subject, situation, etc. Understanding is a relation between the knower and an object of understanding. He noted bond's apparent lack of. Understanding a concept means you get it.
