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Relative pronouns introduce relative clauses that clarify or specify the antecedent. For example, in "Trees, which are plants, need sunlight to grow," the word "which" is a relative pronoun.

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can who be used as the informal form of whom?

Both sentences mean the same. The first is the sort of English used by purists, and the second is modern English, seen in daily usage. Your teacher, without doubt, is wrong.
Myungjin Hyun's user avatar