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-articulating surfaces flat or slightly curved
-sliding or twisting
ex. wrist and ankle bones, sternum to clavicle
-cylindrical surface of one bone articulates with ring of bone and ligament
-rotation around central axis
ex. atlas, axis, proximal articulation of radius and ulna
-surface of one bone articulates with concave surface of another
-flexion and extension
ex. elbow, phalanges
-concave surface in one direction and convex in another
-back and forth, side to side
ex. thumb, 1st metacarpal and trapezium
-oval-shaped condyle of one bone articulates with elliptical cavity of another
-variety of movements, no rotation
ex. metacarpals and phalanges
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