Cylinders are circles pulled out into the third dimension and rectangular prisms are rectangles pulled into the third dimension.
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Prisms have polygonal cross sections and several rectangular lateral faces. Cylinders have circular cross sections and one curved lateral face.
... whereas one of the "bases" of prisms are vertices.
Cubes have a square on each side, but rectangular prisms have rectangles or squares.
Prisms have polygons as bases whereas cylinders have circles as bases. In a way, a cylinder is like a circular prism.
They can be rectangular prisms.