Don't confuse pronation and supination with medial and lateral rotation. Both pairs are rotational movements, but pronation and supination are specialized. In internal (or medial) rotation and external (or lateral) rotation of the arm, the radius and ulna stay parallel, and all the movement is at the shoulder (or at the hip in the case of rotation of the leg). Pronation and supination (of the arm only) are entirely due to the radius and ulna, with no movement at the shoulder.