ball-shaped head of one bone articulats with cup-shaped socket of another which results in movements in all planes
oval-shaped condyle of one bone articulates with elliptical cavity of another resulting in a variey of movements in different planes, but no rotation
articlating surfaces are nearly flat or slightly curved resulting in sliding or twisting movments
conves surface of one bone articulates with concave surface of another resulting in flexion and extension.
cylindrical surface of one bone articulates with ring of bone and fibrous tissue resulting in rotational movement
artculating surface have both concave and convex regions resulting in a variety of movment mainly in two planes.