When looking at the Pentatonic scale, You'll notice that the notes associated with the Half step (or semi-tone) intervals in the Major scale are eliminated. In the Major Pentatonic scale, the 4th and 7th degrees from the Major scale are removed, leaving the 1st, 2nd, 3rd, 5th and 6th intervals to create the scale. Removing the semi-tones allow the Pentatonic to become a more stable scale in relation to the chords played because the intervals don't lead toward being resolved. In other words, it's almost like any note in the Pentatonic scale can play the role of being the Tonic and will still sound good because the intervals don't require resolve for harmonic function with the root. They tend to hold their own, so to speak.
Every Major scale has a relative minor scale created from it's 6th interval pattern. So, the G Major scale is ; 1-2-3-4-5-6-7 (G-A-B-C-D-E-F#)
The 6th interval is (E) and is the relative minor (Natural) to G, when using the same notes in sequence starting from (E); 1-2-b3-4-5-b6-b7 (E-F#-G-A-B-C-D)
The G Major Pentatonic eliminates the 4th (C) and 7th (F#) intervals and uses; 1-2-3-5-6 (G-A-B-D-E). The last note in the Major Pentatonic scale (E) creates the relative minor scale;
The E minor Pentatonic eliminates the 2nd (F#) and b6th (C) intervals (the positions of semi-tones from E) and uses; 1-b3-4-5-b7 (E-G-A-B-D).
Since semi-tones form a degree of harmonic tension, they are removed from the Pentatonic to avoid the chance of landing on a hanging note.
Here's an example of harmonic tension; Strum a G Major chord while playing a C note along with it. It quickly becomes irritating if the C doesn't get resolved.
Since the Blues sound feeds off of tension and release to create it's feel, the Blues scale was introduced by adding in it's own version of interval alterations in the Pentatonic scale to somewhat weaken it's stability in order to bring back a degree of tension needed for the Blues signature.