The urinary system removes waste from the body through the kidneys, ureters, urinary bladder, and urethra. The kidneys filter waste from the blood and form urine, which contains salts, organic compounds, uric acid, and urea. The nephrons in the kidneys are the functional units that filter wastes and form urine, which then travels through the ureters to the urinary bladder for temporary storage until release through the urethra.