Nice shot !
The lenticular cloud forms over the cumulus the same way it can over mountain ranges-in this case the wind hits the cumulus and tumbles over the back- the air lift in this area is called `wave' and sometimes carries glider pilots to heights of 25,000 ft or more in Australia, at least this is my interpretation of what I am seeing here. The lenticular itself is more likely to be on the lee side of another group of cumulus and just happens to be colliding with this one.
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