Abstract. The well developed linear theory of ICRF (including FW, HHFW and IBW) interactions with plasma has enjoyed considerable success in describing antenna coupling and wave propagation, and provides a well-known framework for calculating power absorption, current drive, etc. In some situations, less well studied nonlinear effects are of interest, such as flow drive, ponderomotive forces, rf sheaths, parametric decay and related interactions with the edge plasma. Standard ICRF codes have begun to integrate this physics to achieve improved modeling capabilities. This paper concentrates on basic rf-plasma-interaction physics with illustrative applications to tokamaks. For FW antennas, the parallel electric field near launching structures is known to drive rf-sheaths which can give rise to convective cells, interaction with plasma "blobs", impurity production, and edge power dissipation. In addition to sheaths, IBW waves in the edge plasma are subject to strong ponderomotive effects and parametric decay. In the core plasma, slow waves can sometimes induce nonlinear effects. Mechanisms by which these waves can influence the radial electric field and its shear are summarized, and related to the general (reactive-ponderomotive and dissipative) force on a plasma from rf waves. It is argued that there are significant opportunities now for new predictive capabilities by advances in integrated simulation.