Bones are attached to muscles by tendons.
Muscles move bones at a joint by contracting.
Tendons can't stretch much so when a muscle contracts a tendon pulls on the bone, transmitting the force from the muscle to the bone.
Muscles can only pull on bones to move a joint- they can't push. This is why muscles usually come in pairs (antagonistic pairs).
When one muscle in the pair contracts, the join moves in one direction. When the other muscle contracts, it moves in the opposite direction.
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