This document discusses diarthrodial joints and joint motion. It identifies important connective tissue structures in diarthrodial joints like synovial fluid, articular cartilage, meniscus, ligaments, tendons, and muscles. These structures provide lubrication, load distribution, joint stability, and transmission of forces. Joints allow six degrees of freedom consisting of three translations and three rotations. Applying statics to joint biomechanics problems requires assumptions like known axes of rotation and muscle attachments, negligible friction, and consideration of only two-dimensional forces. Anthropometric data provides average human body measures used in the analysis.