Step 1: Most components of a synovial joint carry a nerve supply. The fibrous capsule and the ligaments are richly supplied with pain and proprioceptive fibres, and the synovial membrane also receives a nerve supply.
Step 2: Articular cartilage, however, is hyaline cartilage and has no nerve supply, no blood supply and no lymphatic drainage. Hence it is the structure that is not innervated, so it is the exception and the correct answer.
Step 3: Because cartilage is avascular and lacks a perichondrium at the joint surface, it cannot repair or regenerate itself well, which is why cartilage injuries heal poorly.
Step 4: Synovium, capsule and ligaments are all innervated, so they cannot be the exception.