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diff --git a/docs/joints.rst b/docs/joints.rst
index 913f7f6..75c8afd 100644
--- a/docs/joints.rst
+++ b/docs/joints.rst
@@ -76,27 +76,72 @@ one at the face end - both of which are shown in the above image (generated by o
 Revolute Joint
 **************
 
-Component rotates around axis like a hinge.
+Component rotates around axis like a hinge. The :ref:`joint_tutorial` covers Revolute Joints in detail.
+
+During instantiation of a :class:`~topology.RevoluteJoint` there are three parameters not present with 
+Rigid Joints: ``axis``, ``angle_reference``, and ``range`` that allow the circular motion to be fully
+defined.
+
+When :meth:`~topology.Joint.connect_to` with a Revolute Joint, an extra ``angle`` parameter is present
+which allows one to change the relative position of joined parts by changing a single value.
+
 
 ************
 Linear Joint
 ************
 
-Component moves along a single axis.
+Component moves along a single axis as with a sliding latch shown here:
+
+.. image:: assets/joint-latch-slide.png
+
+The code to generate these components follows:
+
+.. literalinclude:: slide_latch.py
+    :emphasize-lines: 30, 52, 55
+
+.. image:: assets/joint-latch.png
+    :width: 65 %
+.. image:: assets/joint-slide.png
+    :width: 27.5 %
+
+Note how the slide is constructed in a different orientation than the direction of motion. The
+three highlighted lines of code show how the joints are created and connected together:
+
+* The :class:`~topology.LinearJoint` has an axis and limits of movement
+* The :class:`~topology.RigidJoint` has a single location, orientated such that the knob will ultimately be "up"
+* The ``connect_to`` specifies a position that must be within the predefined limits.
+
+The slider can be moved back and forth by just changing the ``position`` value.  Values outside
+of the limits will raise an exception.
 
 *****************
 Cylindrical Joint
 *****************
 
-Component rotates around and moves along a single axis like a screw.
+A :class:`~topology.CylindricalJoint` allows a component to rotate around and moves along a single axis 
+like a screw combining the functionality of a :class:`~topology.LinearJoint` and a 
+:class:`~topology.RevoluteJoint` joint.  The ``connect_to`` for these joints have both ``position`` and 
+``angle`` parameters as shown below extracted from the joint tutorial. 
+
+
+.. code-block::python
+
+    hinge_outer.joints["hole2"].connect_to(m6_joint, position=5 * MM, angle=30)
+
 
 **********
 Ball Joint
 **********
 
-A component rotates around all 3 axes using a gimbal system (3 nested rotations).
+A component rotates around all 3 axes using a gimbal system (3 nested rotations). A :class:`~topology.BallJoint`
+is found within a rod end as shown here:
 
-**********
-Conclusion
-**********
+.. image:: assets/rod_end.png
+
+.. literalinclude:: rod_end.py
+    :emphasize-lines: 37-42,49,51
+
+Note how limits are defined during the instantiation of the ball joint when ensures that the pin or bolt 
+within the rod end does not interfer with the rod end itself. The ``connect_to`` sets the three angles
+(only two are significant in this example).
 
diff --git a/docs/rod_end.py b/docs/rod_end.py
new file mode 100644
index 0000000..81463e4
--- /dev/null
+++ b/docs/rod_end.py
@@ -0,0 +1,53 @@
+from build123d import *
+from bd_warehouse.thread import IsoThread
+from ocp_vscode import *
+
+# Create the thread so the min radius is available below
+thread = IsoThread(
+    major_diameter=8, pitch=1.25, length=20, end_finishes=("fade", "raw")
+)
+
+with BuildPart() as rod_end:
+    # Create the outer shape
+    with BuildSketch():
+        Circle(22.25 / 2)
+        with Locations((0, -12)):
+            Rectangle(8, 1)
+        make_hull()
+        split(bisect_by=Plane.YZ)
+    revolve(axis=Axis.Y)
+    # Refine the shape
+    with BuildSketch(Plane.YZ) as s2:
+        Rectangle(25, 8, align=(Align.MIN, Align.CENTER))
+        Rectangle(9, 10, align=(Align.MIN, Align.CENTER))
+        chamfer(s2.vertices(), 0.5)
+    revolve(axis=Axis.Z, mode=Mode.INTERSECT)
+    # Add the screw shaft
+    Cylinder(
+        thread.min_radius,
+        30,
+        rotation=(90, 0, 0),
+        align=(Align.CENTER, Align.CENTER, Align.MIN),
+    )
+    # Cutout the ball socket
+    Sphere(15.89 / 2, mode=Mode.SUBTRACT)  # Add thread
+    with Locations((0, -30, 0)):
+        add(thread, rotation=(-90, 0, 0))
+    # Create the ball joint
+    BallJoint(
+        "socket",
+        rod_end.part,
+        joint_location=Location(),
+        angular_range=((-14, 14), (-14, 14), (0, 360)),
+    )
+
+with BuildPart() as ball:
+    Sphere(15.88 / 2)
+    Box(50, 50, 13, mode=Mode.INTERSECT)
+    Hole(4)
+    ball.part.color = Color("aliceblue")
+    RigidJoint("ball", ball.part, joint_location=Location())
+
+rod_end.part.joints["socket"].connect_to(ball.part.joints["ball"], angles=(5, 10, 0))
+
+show(rod_end.part, ball.part)
diff --git a/docs/slide_latch.py b/docs/slide_latch.py
new file mode 100644
index 0000000..3049355
--- /dev/null
+++ b/docs/slide_latch.py
@@ -0,0 +1,59 @@
+from build123d import *
+from ocp_vscode import *
+
+with BuildPart() as latch:
+    # Basic box shape to start with filleted corners
+    Box(70, 30, 14)
+    end = latch.faces().sort_by(Axis.X)[-1]  # save the end with the hole
+    fillet(latch.edges().filter_by(Axis.Z), 2)
+    fillet(latch.edges().sort_by(Axis.Z)[-1], 1)
+    # Make screw tabs
+    with BuildSketch(latch.faces().sort_by(Axis.Z)[0]) as l4:
+        with Locations((-30, 0), (30, 0)):
+            SlotOverall(50, 10, rotation=90)
+        Rectangle(50, 30)
+        fillet(l4.vertices(Select.LAST), radius=2)
+    extrude(amount=-2)
+    with GridLocations(60, 40, 2, 2):
+        Hole(2)
+    # Create the hole from the end saved previously
+    with BuildSketch(end) as slide_hole:
+        add(end)
+        offset(amount=-2)
+        fillet(slide_hole.vertices(), 1)
+    extrude(amount=-68, mode=Mode.SUBTRACT)
+    # Slot for the hangle to slide in
+    with BuildSketch(latch.faces().sort_by(Axis.Z)[-1]):
+        SlotOverall(32, 8)
+    extrude(amount=-2, mode=Mode.SUBTRACT)
+    # The slider will move align the x axis 12mm in each direction
+    LinearJoint("latch", latch.part, axis=Axis.X, linear_range=(-12, 12))
+
+with BuildPart() as slide:
+    # The slide will be a little smaller than the hole
+    with BuildSketch() as s1:
+        add(slide_hole.sketch)
+        offset(amount=-0.25)
+    # The extrusions aren't symmetric
+    extrude(amount=46)
+    extrude(slide.faces().sort_by(Axis.Z)[0], amount=20)
+    # Round off the ends
+    fillet(slide.edges().group_by(Axis.Z)[0], 1)
+    fillet(slide.edges().group_by(Axis.Z)[-1], 1)
+    # Create the knob
+    with BuildSketch() as s2:
+        with Locations((12, 0)):
+            SlotOverall(15, 4, rotation=90)
+        Rectangle(12, 7, align=(Align.MIN, Align.CENTER))
+        fillet(s2.vertices(Select.LAST), 1)
+        split(bisect_by=Plane.XZ)
+    revolve(axis=Axis.X)
+    # Align the joint to Plane.ZY flipped
+    RigidJoint("slide", slide.part, Location(-Plane.ZY))
+
+# Position the slide in the latch: -12 >= position <= 12
+latch.part.joints["latch"].connect_to(slide.part.joints["slide"], position=12)
+
+# show(latch.part, render_joints=True)
+# show(slide.part, render_joints=True)
+show(latch.part, slide.part, render_joints=True)