A seal for sealing between a trunnion and bearing cup of a joint member includes a main annular body. A plurality of annular lips extend radially inwardly from the main body. The lips are configured for engaging an outer bearing surface of the trunnion. A first one and a second one of the lips slope in a first direction with respect to the outer bearing surface of the trunnion and a third one of the lips slope in a second direction with respect to the outer bearing surface of the trunnion.