The most common appendage would be the leg. Arachnids have eight legs, centipedes have LOTS of legs. I'm not sure how many legs the crustaceans have. I think it's eight. But many crustaceans have modified their two front legs into pincers. And insects have six legs.
Another example of an arthropod appendage is the mandible. That's what they have instead of jaws. Mandibles open side to side instead of up and down.
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