Our stomach works like a cement mixer, routinely swishing our food (called chyme by the time it gets to here) around to help the chemicals and enzymes break it down. This swishing it stimulated by even the idea of food, so when our stomach is empty and we think about food, it can rumble, as well as just after we have eaten.
The rumble is bubbles swishing around in the liquid chyme, as Tim says. The bubbles are produced when your body breaks down food, as a waste product from the bacteria in your stomach and upper intestine for example. I believe sugary foods produce the most bubbles in the upper digestive tract (and brussel sprouts in the lower!)
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