Vertebrate skeletal systems have three main components: bones, cartilage, and joints. There are two types of bones - compact bone which forms the hard outer shell, and spongy bone found at the ends of long bones. Bones provide structure, protection, movement, and store minerals. They form through two processes - intramembranous ossification where bone develops in membranes, and endochondral ossification where bone forms within cartilage. The vertebral column consists of vertebrae which can be classified based on their structure and location along the body.