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- ball and socket, like the joint between the humerus and scapula
- pivot, such as the joint between the radius and ulna
- condyloid, like that between the radius, ulna, and carpals
- ellipsoidal, which only occurs between atlas and axis
- saddle, which only occurs at the carpometacarpal joint of the thumb
- hinge, which describes the phalanges and knee joints.