Cartilaginous Joints
These are partially moveable joints.  The bones are connected by cartilage connective tissue reinforced by fibrous tissue permitting little or no movement.  An example is the fibrocartilage discs between vertebral bodies, which are partially moveable, and cartilage between the epiphysis and diaphysis of developing bone, which are immovable.

Synovial Joints
These are the most common joints.  They allow for a wide variety of movements.  The bones, capped with cartilage, articulate within a cavity lined by a membrane secreting a viscous fluid that absorbs the heat of friction during movement.  The synovial joint is surrounded by a fibrous capsule interlaced with ligaments and tendons.
 

There are six types of Synovial Joints

Ball & Socket--The ball-like head of one bone fits into the socket-like head of another, permitting all movements.  Examples are the shoulder and hip joints.	Hinge--The C-shaped surface of one bone swings about the rounded surface of another.  Movement is limited to flexion/extension.  Examples are the elbow, ankle, and the interphalangeal joints.
Saddle--The concave surfaces of two bones articulate with one another.  All movements are possible, but rotation is limited.  An example is the carpometacarpal joint of the thumb.	Gliding--Two opposed flat surfaces of bone glide across one another.  Movement is limited to gliding.  Examples are the intercarpal joints.
Ellipsoid--This is a reduced ball and socket configuration in which rotation is not permitted.  An example is the wrist joint.	Pivot--A ring of bone rotates about a process of bone.  Movement is limited to rotation.  An example is the skull on its atlas.