It creates a gradient of pressure increasing with depth and thereby enables convection in both the outer core (runny liquid metal) and mantle (semi-solid rock—solid enough to transmit S-type seismic waves but soft enough to ooze under great pressure). read more
However, plate tectonics are very superficial and mostly have to do with compression and tension on plates, and they are run by subduction and convection, which themselves are controlled by density which is also temperature dependent. read more
The main driving force of plate tectonics is gravity. If a plate with oceanic lithosphere meets another plate, the dense oceanic lithosphere dives beneath the other plate and sinks into the mantle. This process is called subduction. The sinking oceanic lithosphere drags the rest of the tectonic plate and this is the main cause of plate motion. read more