There’s a reason you get absorbed in a book, and I know I’ve touched on this a few times but I really do think this video that TED-Ed released does a really nice job explaining. I encourage everyone to watch it. It’s not long.
Short version: The definition of writing is visual symbols (or words) that the brain has equated to concepts or experiences. For example, everyone understands the color red due to their own experiences and recalls a specific image or memory based on reading that word. In order to fully engage every reader, it is then the job of the writer to choose words that most stimulate your brain. This means using words that rely on the five senses: sight, hearing, smell, taste, and touch.