GH
ER > ABduction > IR
convex on concave
Elbow
flexion > extension
concave on convex
Proximal and Distal Radioulnar
supination = pronation
concave on convex
Wrist
flexion = extension, slight radial and ulnar deviation
convex on concave
1st CMC
ABduction
saddle - convex on concave for AB/ADduction and concave on convex for flexion/extension
MCP joint
flexion = extension
concave on convex
IP joint
flexion = extension
concave on convex
Hip
IR = flexion = ABduction
convex on concave
Knee
flexion > extension
concave on convex
Talocrural
PF > DF
convex on concave