This email is to document my thinking on this.  Pro/con arguments are welcome.

Here's the similarities:

With the exception of Slider and Fixed, all joints have a position.  Those two 
may average the positions of the connected bodies.

Other elements, such as orientation (axis), velocity (speed), etc can be 
provided.

Joints exist in a World (Scene) just as bodies do.  There's a plan to provide 
rendering based on a flag in the Scene.

Forces can be applied to both (in most cases).

Joints have no mass and no shape, so fields won't effect them.

And finally, anything that Body supports which Joint doesn't can be disabled.
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