Which term describes the increase in joint angle and straightening motion?

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The action that increases the angle between bones at a joint and straightens a limb is extension. When a joint extends, the limb moves toward a straighter position, increasing the angle—for example, straightening the elbow after it’s been bent. Flexion does the opposite, narrowing the angle by bending. Abduction and adduction refer to movement away from or toward the body's midline, not to changing the joint angle. So extension is the correct term.