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Roller (2D)
One normal force
Pin (2D)
Normal and tangent force
Fix (2D)
Two forces and one couple
Roller (3D)
Normal force
Ball and socket (3D)
Three forces
Single journal bearing (3D)
Two forces and two couples (no action along axis of rotation)
Single hinge
Three forces and two couples (no couple along shaft)
Fixed (3D)
Three forces and three moments