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...via a [[mechanics|mechanical]] [[constraint (mathematics)|constraint]] (''joint'') between the two bodies. In [[kinematics]], one classifies the kinematic ...[[cylindrical joint]], [[screw joint]], [[planar joint]], and [[spherical joint]] ("[[ball and socket]]").

:: <math>\sum_{n=1}^j\ f_i</math>= sum of each joint's individual degree of freedom *'''[[revolute joint|Revolute]]''' or '''pin''', one DOF rotation. Examples are; bushings, beari