Born in Tulsa, Oklahoma and growing up in Denver, Colorado, Waters attended Princeton University and received his MFA in Directing from the University of Wisconsin- Madison. He worked as an actor in New York City on and off Broadway for more than a decade as well as at theaters around the country. Venues include the Mark Taper Forum, Berkeley Repertory Theatre, TheatreWorks, and the San Jose Repertory Theatre.
He was a member of the Frank Silvera Writers Workshop in Harlem, which has developed the work of new, African American playwrights, directors, designers, and actors since 1973.
In 1985, he was cast as Marvin Berry (a fictional cousin of Chuck Berry) in Back to the Future, a role reprised in Back to the Future Part II in 1989.

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