A synovial (diarthrodial) joint includes the

 Articular cartilage of adjacent bones;

 An inner synovial membrane(synovium)
 An outer ligamentous capsule;
 In the normal situation, a small
amount of synovial fluid
(<2 mL, even in large joints)
 The joint capsule and associated
ligaments are composed primarily
of type I collagen.

Articular cartilage
Hyaline cartilage
 is a highly effective tissue that provides pain-free movement with
load bearing. The very smooth, almost frictionless motion of normal
joints
 is avascular and receives its nutrition by diffusion from synovial
fluid.
 Because articular cartilage is not innervated, arthritic pain is
secondary to activation of stress receptors in the capsule and other
periarticular structures.