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hinge
-surface of one bone articulates with concave surface of another
-flexion and extension
ex. elbow, phalanges
saddle
-concave surface in one direction and convex in another
-back and forth, side to side
ex. thumb, 1st metacarpal and trapezium
condyloid
-oval-shaped condyle of one bone articulates with elliptical cavity of another
-variety of movements, no rotation
ex. metacarpals and phalanges
Ball and Socket
ball-shapped head of one bone articulates with cup-shaped cavity of another
-all planes and rotation
-hip and shoulder