The cylindrical joint allows both relative rotation and relative translation of one rigid body with respect to another rigid body. The origin of the cylindrical joint can be located anywhere along the axis about which the rigid bodies can rotate or slide with respect to each other.
Orientation of the cylindrical joint defines the direction of the axis about which the rigid bodies can rotate or slide along with respect to each other.
The rotational/translational axis of the cylindrical joint is parallel to the orientation vector and passes through the origin.
An example of a cylindrical joint is a hydraulic cylinder, as shown next: