Although joints with synovial cavities and articular surfaces are very variable, they all have one common peculiarity. In most cases, one of the articular surfaces is concave, whereas the other one is convex. During the formation of a joint, the epiphysis, which has less kinetic energy during the movements in the joint, forms a convex surface, whereas large kinetic energy forms the epiphysis with a concave surface. Basing on this concept, the analysis of the structure of the joints, allows to determine forces involved into their formation, and to identify the general patterns of the formation of the skeleton.
On the Matching Equations of Kinetic Energy Shaping in IDA-PBC