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Muscles can only pull, so for joints that need to go both ways (like your elbow, up and down) you need one muscle to flex, one to extend. These are Flexors and Extensors, or can be called the Prime Mover and Antagonist.

There's a third muscle which are grouped up as the synergists, which simply helps the Prime Mover do its job. For example, Lifting your leg up would be using the following: Quadriceps as the Prime Mover, Hamstring as the Antagonist, and your glutes as the synergist.

Hope that helped! ^^

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