A dependency from classA to classB represents a more transient relationship. So, for example, classA could have a method that takes a parameter of type classB (so the dependency occurs only during a call to this method) or classA could have a method that has a local variable of type classB (so again the dependency occurs only during a call to this method). The dependency indicates that if we were to make a change to any member of classB to which classA has access, we may have to make a corresponding change to classA.
As I indicated in lecture, dependencies are not normally shown on UML class diagrams. We included them on some class diagrams to illustrate that our design led to dependencies on abstractions rather than on concrete types.
Paul