How is RotateP / RotateV used in comparison to Motor6D?

As of recently I have learned how to use Motor and Motor6D through scripting. Interested in RotateP / RotateV / Rotate, however, I have had trouble finding documentation on how they fully work. I understand they don't use MaxVelocity, DesiredAngle, and CurrentAngle. So what do they do differently, and how does one use them? All answers appreciated, thanks you so much.

-JustAnAverageTree

Here's a full tutorial on the different kinds of Joints and how to use them:

Joints

RotateP and RotateV are most commonly used without the user even knowing they're using them. These are automatically created whenever you use a Motor or SteppingMotor SurfaceType.

When created with a script, they work the exact same and are even still governed by the SurfaceInput of Part0.

In all honesty, I do not find them all too handy as It is easier to simply use the Motor and SteppingMotor SurfaceTypes, however if you don't want the little cylinder on the surface of your part these could be used.

Here is where you can find more information on them: RotateV | RotateP