The bones
Three bones meet at the shoulder: the upper arm bone (humerus); the shoulder blade (scapula), with its shallow socket (the glenoid), its bony roof (the acromion) and a hook at the front (the coracoid process); and the collarbone (clavicle). The collarbone works like a strut, holding the shoulder out from the chest so the shoulder blade can glide over the back of the ribs.
Sources 1, 11, 12
The ball-and-socket joint
The glenohumeral joint, between the ball at the top of the humerus and the glenoid, is a synovial ball-and-socket joint. The ball has about four times the surface area of the socket, which holds less than a third of it. A ring of fibrocartilage, the labrum, deepens the socket, and at the top it joins the tendon of the long head of the biceps.
The capsule is loose, reinforced by three thickened bands, the superior, middle and inferior glenohumeral ligaments, which tighten at different arm positions and help stop the ball slipping out forwards.
Sources 2, 1
The AC joint
The acromioclavicular (AC) joint, between the outer end of the collarbone and the acromion, is a small synovial plane joint with surfaces of fibrocartilage and a small disc between them. Its main support is the coracoclavicular ligament, in two parts called the conoid and trapezoid, with the AC ligament keeping it stable from front to back. As you raise your arm, the shoulder blade tilts back here, by about 19 degrees on average in one study.
Sources 13, 1, 4
The SC joint
The sternoclavicular (SC) joint, between the inner end of the collarbone and the breastbone, is a saddle-shaped synovial joint and the only joint linking the arm to the trunk. It lets the collarbone lift, drop, move forward and back, and spin about 45 degrees along its length; as you raise your arm, the collarbone spins back about 31 degrees on average. The costoclavicular ligament, from the collarbone to the first rib, is its main restraint.
Sources 1, 14, 4
The shoulder blade on the ribs
The scapulothoracic joint is not a true joint: it is the shoulder blade gliding over the back of the rib cage. Muscles hold it there and move it. The upper trapezius and levator scapulae lift it, the lower trapezius draws it down, the trapezius turns it upward as the arm rises, the rhomboids and middle trapezius draw it back, and the serratus anterior brings it forward around the ribs.
Sources 1, 11
Two kinds of stability
Reference texts describe two systems. The static stabilisers are the shape of the bones, the labrum, the capsule and its ligaments, and a slight suction inside the joint. The dynamic ones are the rotator cuff, the long head of the biceps and the muscles around the shoulder blade. The cuff wraps the front, top and back of the joint but leaves the bottom relatively unsupported.
Sources 2, 3
The roof and the bursa
Above the rotator cuff tendons sits a roof of bone and ligament: the acromion, the coracoid process and the coracoacromial ligament. The subacromial bursa, a fluid-filled sac under the deltoid and above the supraspinatus tendon, lets the tendon glide in the space beneath this roof, which is only about 1.0 to 1.5 cm high.
Sources 15, 2
The muscles that move it
The rotator cuff is four muscles from the shoulder blade. The supraspinatus starts raising the arm out to the side and matters most over the first 15 degrees, the infraspinatus and teres minor turn the arm outward, and the subscapularis turns it inward. The deltoid's middle fibres take the arm from about 15 to 90 degrees, and beyond that the trapezius and serratus anterior turn the shoulder blade so the arm can go higher.
The pectoralis major, latissimus dorsi and teres major are big movers that bring the arm in to your side and turn it inward. Both heads of the biceps cross the shoulder, the short head from the coracoid process and the long head from above the socket, and so does the long head of the triceps, from below it. Each has its own muscle guide, listed below.
Sources 3, 2, 1
Nerves worth knowing
The axillary nerve, which supplies the deltoid and teres minor, runs close along the bottom of the joint capsule and can be damaged when the shoulder dislocates. The long thoracic nerve supplies the serratus anterior, and injury to it is the most common cause of a shoulder blade that sticks out (winging).
Sources 1, 2, 16