synovial joints

• pivot


  rotation of one bone around another

  eg. atlas
• gliding


  when flat bones glide past eachother

  eg. carpals
• ball and socket


  where a rounded bone head articulates with a cup-shaped cavity

  eg. shoulder
• hinge


  where two bones meet and result in movement along a single plane

  eg. knee
• saddle


  where concave and convex bone surfaces align

  eg. thumb
• condyloid


  similar to hinge + rotation

  eg. wrist