joints that connect bodies in this system remove degrees of freedom and reduce mobility. specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. it is convenient to define the number of constraints "c" that a joint imposes in terms of the joint's freedom "f", where "c" = 6 − "f". in the case of a hinge or slider, which are one degree of freedom joints, we have "f" = 1 and therefore "c" = 6 − 1 = 5.