EF stands for Electrofocus
This is the mount that Canon introduced in 1987 when they introduced the EOS camera; EOs stands for electro optical system
Every EF lens ever made fits every EOS camera ever made, both film and digital.
EF-S stands for electro-focus, short back focus. The first EF-S lens was introduced in about 2004, with the EOS 300d
These lenses are only compatable with APS-c sensor cameras, because of the reduced image circle and the shor back focus.
On a camera with a larger sensor there would be problems with vignetting and the mirror hitting the lens.
EFS lenses help the users of the APS C sensor cameras with useful focal lengths not covered by the EF range.