A seal is for sealing an axial space between first and second axially-spaced members, the first member having a radial surface and the second member having an outer circumferential surface. The seal includes an annular body having inner and outer circumferential surfaces and first and second axial ends, a radial sealing surface proximal to the first end to sealingly engage with the first member radial surface, and a circumferential sealing surface proximal to the second end to sealingly engage with the second member outer surface. At least a portion of the seal body extends circumferentially about and encloses the axial space. The seal may be incorporated in a joint assembly for a linkage having first and second links, the assembly including a shaft coupled with the first link and a boss coupled with the second link, receiving the shaft, and defining an axial space in which the seal is disposed.