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The rondo is often found in the final movement of a sonata or concerto.
Bert. Rondo or Rondó means "round". This movement is a "circle" that has different themes (and their developments).
Beginning with Haydn, the form most often used in the fourth movement was the rondo or rondo/finale. Very seldom the sonata/allegro form typical of the first movement has also been used in the fourth.
The third movement was often a minuet and trio, or a rondo, or other dance form.
Concerto