Joints form when rock fractures due to stresses exceeding its brittle strength. They typically occur in sets of parallel fractures. Joints are classified by their formation process, such as sheeting joints which form as lava cools, or by their geometry, such as bedding joints which are parallel to stratification. Factors like bed thickness and lithology influence the spacing between joints. Joints are important in fields like engineering and hydrology, as they can impact rock strength and allow fluid flow.