A capitalization rate is the ratio of a property's annual net operating income to its price or appraised value. Net operating income is the rent the property is expected to collect after vacancy and credit losses, less the operating expenses of running it, and before any financing cost. Divide that figure by the price and the result is a percentage: the return the building itself produces to an unleveraged owner in a year, before tax.
"Cap rate" is the market shortening of capitalization rate, and the two mean the same thing. The longer name is worth knowing because it points at where the measure comes from. It is one component of the income approach to value, the appraisal method that estimates what a property is worth from the income it produces. IRS Publication 561, listing the approaches an appraiser may use for real estate, calls the second one "Capitalization of Income" and describes it as capitalizing the net income from the property "at a rate that represents a fair return on the particular investment at the particular time, considering the risks involved," adding that "the key elements are the determination of the income to be capitalized and the rate of capitalization."