The shoulder and the hip form the only ball-and-socket joints in the entire human body. Ball-and-socket joints give rise to multidirectional movement of all types except for gliding. Hinge joints, such as the elbow and knee, can only move in one plane. Pivot joints, such as the radioulnar joints allow rotation. Plane/gliding joints only allow gliding movements.

Synovial joints contain a synovial cavity that contains synovial fluid. This joint structure allows for many different types of movement. Neither cartilaginous nor fibrous joints contain fluid-filled cavities. 

A diarthrosis is another name for a synovial joint. Synovial joints (diarthroses) allow more movment than synarthroses. The tibiofemoal joint (the knee), the humero-ulnar joint (one of the elbow joints), and the glenohumeral joint ("the shoulder") are all synovial joints. Although the proximal tibiofibular joint is a diarthrosis, the distal tibiofibular joint is not; it is a type of synarthrosis.

Intra-articular discs are structures made of fibrocartilage that increase joint congruency, and improve shock absorption. They can be found in the AC joint, the SC joint, the TMJ, and several other joints. Similarly, the acetabular labrum in the coxafemoral joint is comprised of fibrocartilage, and improves joint congruency. However, it is not an intra-articular disc.

Fibrous joints, also known as synarthroses, are joined by fibrous tissue, have no joint cavity, and allow little movement. An example of this is a suture, which is found between the flat bones of the skull.  Cartilaginous joints are joined by cartilage, have no joint cavity, and allow little or no movement. An example of this is the epiphyseal plate. Synovial joints, in contrast, do contain a joint cavity and allow a great deal of free movement. An example of this is the hip joint.

The knee is composed of the femur and the tibia, which creates a hinge joint. The ball in socket would be the shoulder or hip, composed of a ball like structure that rotates around a socket like bone. The saddle joint is a special joint located in the thumb and allows for multiple motions. A plateau joint does not exist in the body.

The sternoclavicular and trapeziometacarpal (thumb) joints are unique in that the involved bones have both convex and concave portions that give their saddle shape.

Gliding joints, also called plane joints, have flat articular surfaces that allow movement in all different directions. (There are eight carpal bones in the wrist: scaphoid, lunate, triquetrum, pisiform, trapezium, trapezoid, capitate, hamate.)

Ball and socket joints, such as the glenohumeral joint in the shoulder and acetabulofemoral joint in the hip, allow for the widest range of movement.

A syndesmosis is a type of immovable fibrous joint that is made up of collagen. This same interosseous membrane also exists between the radius and ulna. Sutures and gomphoses are other examples of fibrous joints.