This document describes different types of cotter and knuckle joints used to connect rods transmitting axial motion. Cotter joints use a wedge-shaped cotter to rigidly connect two rods without rotation. Sleeve and cotter joints use an enlarged sleeve over rod ends. Socket and spigot cotter joints have slots wider than the cotter to pull rods tightly together. Gib and cotter joints add a gib to prevent strap spreading. Knuckle joints connect misaligned rods allowing small angular motion. Applications include steam engines, pumps, valves and elevators. The document also provides design considerations and failure modes for socket and spigot cotter joints.