Six Types of Synovial Joints 

There are six types of synovial joint:

Plane

Hinge 

Pivot

Condyloid (Pronounced kon-dih-loyd)

Saddle 

Ball and Socket

The way to remember these six joints is to remember the phrase:

Prince Harry Pulled Charles' Saddle Bag (and he fell off and hurt all his joints).

And to remember what each word stands for, use the following mnemonics: 

The Prince arrived on a plane.

Prince means Plane.

There was Prince Harry in full sight after the plane's door unusually hinged open.

Harry means Hinge

But Prince Harry didn't see that there was no door. He went to pull open the door but pivoted over and hit the floor.

Pulled means Pivot

He ended up in hospital, and his father Charles could read has medical condition in the tabloids (condyloid). 

Charles means Condyloid.

While Harry lay in hospital, his family decided to visit him on their horses and had to take their saddles in with them.

Saddle means Saddle

Even though he was ill the family had brought bags of balloons and started ballroom dancing. 

Bag means Ball and Socket

Summary

Prince - Plane

Harry - Hinge

Pulled - Pivot

Charles - Condyloid

Saddle - Saddle

Bag - Ball & Socket

So the six types of synovial joint are plane, hinge, pivot, condyloid, saddle and ball & socket.