The Shoulder Joint:
The shoulder actually comprises several joints, with the main joint being the glenohumeral joint. The glenohumeral joint has minimal bony or ligamentous constraints, and a large range of movement in all 6 rotary motions.
The Elbow Joint:
The elbow is a hinge joint with large flexion-extension and internal rotation- external rotation motions, but minimal abduction-adduction motion.
The Hip Joint:
The hip joint is a large ball and socket joint that can move in all six rotary motions.
The Knee Joint:
The knee is the largest joint in the body. It is a modified hinge joint with significant flexion-extension motion, but very limited internal rotation-external rotation motion and minimal abduction-adduction motion.
The Ankle Joint:
The functional motion of the ankle joint is best considered in association with the foot rather than as a single distinct joint. The foot and ankle are coupled and cannot be precisely categorized as abduction-adduction, internal rotation-external rotation. But, for simplicity, these terms are used.