There are three main types of joints in the body: fibrous or fixed joints which allow no movement, cartilaginous or slightly movable joints which allow slight movement, and synovial or freely movable joints. Synovial joints include ball and socket joints like the shoulder, hinge joints like the elbow and knee, pivot joints like between vertebrae, gliding joints between wrist and ankle bones, saddle joints like in the thumb, and condyloid joints between finger bones. Each joint type allows different motions like flexion, extension, abduction, adduction, and rotation.