A relative clause is one by which a noun preceding the clause, the antecedent, is described. Also known as an adjective clause, it is introduced by a relative pronoun, such as who, which, whose, or whom. Relative clauses are subordinate clauses and usually seperated from the sentence by commas because they are by nature non-essential (adjectives). Here are three examples of a relative clause, each using a different case:

    The boy, who lost his books, is at the park.
    The company, from whom you stole the money, has fallen into disarray.
    The women, whose jobs were threatened, wrote congress.
Often times in modern english, the relative pronoun is left out in the vernacular: "I am the one whom you hate" often is stated as "I am the one you hate." (The use of who and whom)

In Latin, relative clauses are formed in the same way; however, the relative pronouns must agree with their antecedent in Case, Number, Gender. A list can be found here.