Europa orbits Jupiter every 3.5 days and is phase locked -- just like Earth's Moon -- so that the same side of Europa faces Jupiter at all times. However, because Europa's orbit is eccentric (i.e. an oval or ellipse not a circle) when it is close to Jupiter the tide is much higher than when it is far from Jupiter. Thus tidal forces raise and lower the sea beneath the ice, causing constant motion and likely causing the cracks we see in images of Europa's surface from visiting robotic probes.
This "tidal heating" causes Europa to be warmer than it would otherwise be at its average distance of about 780,000,000 km (485,000,000 miles) from the sun, more than five times as far as the distance from the Earth to the sun. The warmth of Europa's liquid ocean could prove critical to the survival of simple organisms within the ocean, if they exist.
Discovery:
Europa was discovered on 8 January 1610 by Galileo Galilei. The discovery, along with three other Jovian moons, was the first time a moon was discovered orbiting a planet other than Earth. The discovery of the four Galilean satellites eventually led to the understanding that planets in our solar system orbit the sun, instead of our solar system revolving around Earth. Galileo apparently had observed Europa on 7 January 1610, but had been unable to differentiate it from Io until the next night.