Rigid body joints, such as spherical, revolute, prismatic, cylindrical and planar joints, are a special category of rigid connectors that have a large stiffness spring connecting the joint origins on each rigid body, in a manner that only allows relative motion along the joint translational degree(s) of freedom. Similarly, a large stiffness torsional spring connects the rigid bodies in a manner that only allows relative rotation along the joint rotational degree(s) of freedom.

Other connectors include springs, dampers, and contractile forces that may connect rigid bodies. Optionally, a joint may include a linear damper connecting its origins, and an angular damper restricting its relative rotation.