* Articulating bones separated by a fluid-filled joint cavity.
* Articular cartilage (hyaline) covers the surface of the articulating bones.
* Joint cavity is enclosed by an articular capsule, consisting of an outer layer, the fibrous capsule, and an inner layer, formed by the synovial membrane.
* Synovial membrane secretes synovial fluid, which fills the synovial cavity, lubricates the joint, and provides nourishment for the articular cartilage.
* Reinforced and strengthened by band-like ligaments composed of dense regular connective tissue.