Universal joints and constant velocity joints allow a drive shaft to transmit power through a variable angle to accommodate different angles between the driving and driven shafts. A Rzeppa joint specifically consists of an inner and outer spherical shell with grooves that guide balls to allow angular movement between the input and output shafts up to 30 degrees.

1. •UNIVERSAL JOINT
•CONSTANT VELOCITY JOINT
•RZEPPA JOINT

3.  A universal joint, (universal coupling, U-joint
or Hooke's joint) is a joint or coupling in a rigid
rod that allows the rod to 'bend' in any direction,
and is commonly used in shafts that
transmit rotary motion.
 To give drive at varying angles ( up to 20 degree)

6.  Constant-velocity joints ( CV joints) allow a drive
shaft to transmit power through a variable angle,
at constant rotational speed, without an
appreciable increase in friction or play.
 They are mainly used in front wheel drive vehicles
and 4x4 drive vehicles.
 The angle up to 30 degrees

10.  A Rzeppa joint consists of a spherical inner shell with 6
grooves in it and a similar enveloping outer shell.
 Each groove guides one ball.
 The input shaft fits in the centre of a large, steel, star-
shaped "gear" that nests inside a circular cage.
 The cage is spherical but with ends open, and it
typically has six openings around the perimeter.
 This cage and gear fit into a grooved cup that has a
splined and threaded shaft attached to it.
 Six large steel balls sit inside the cup grooves and fit
into the cage openings, nestled in the grooves of the
star gear.
RZEPPA JOINT