Differences between "java -cp" and "java -jar"?

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What is the difference between running a Java application with
java -cp CLASSPATH and java -jar JAR_FILE_PATH? Is one of them preferred to the other for running a Java application? I mean which one of these ways is more expensive for JVM (according to their machine resources usage)?

Which one will cause JVM to spawn more threads while trying to run the application?

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