Articulations between structures are used to physically connect one structure to another by means of an articulated joint. These connections are referred to as constraints, for which only rotational freedoms exist. There is no relative translational motion at the articulated joint between the linked structures. The term 'structure' is used in this context to mean either a floating structure or a fixed position in the fixed reference axes (FRA), for example an anchored plinth on the sea bed.

Four types of articulation can be modelled by Aqwa, as listed in Table 8.1: Constraint Types. The local articulation axis system has been described in Local Articulation Axes.