1) Articular cartilage (hyaline cartilage covering bone ends), 2) Joint cavity (small fluid-filled space), 3) Articular capsule (outer fibrous layer + inner synovial membrane), 4) Synovial fluid (slippery lubricating fluid), 5) Reinforcing ligaments (bands binding bone to bone), 6) Innervation & Vascularization (rich supply of sensory nerves and blood capillaries).