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RESTful API messages are self-descriptive, meaning they contain all the information needed to understand the request or response. This is typically achieved through the use of HTTP headers and status codes. Example: Content-Type header indicating the format of the message body.

HATEOAS is a constraint of RESTful APIs which enables the client to dynamically navigate to various resource states of the application through hyperlinks. Example: Response contains links to other actions related to the resource.

A Layered System is a REST principle where a client interacts with an API without knowing the inner layers of the network system. This allows for scalability and management enhancements. Example: A client uses a REST API without knowing if there's a load balancer.

Code on Demand is an optional principle of RESTful APIs allowing the server to extend client functionality by sending code to the client that can be executed. Example: JavaScript code sent with a response, executed by the client.

Resource-Based URLs in RESTful APIs refer to URLs that are organized according to the system's data architecture, allowing intuitive access and manipulation of resources. Example: GET /orders/ for accessing orders; POST /orders/ to create a new order.

In RESTful APIs, an idempotent HTTP method means that, no matter how many times it's called, the result remains the same on the server. Example: DELETE and PUT requests should be idempotent.

In RESTful APIs, statelessness means that each HTTP request from a client contains all the information needed to process the request. The server does not store anything about the user's state. Example: A client provides authentication credentials with each request.

Cacheability is a principle whereby RESTful APIs are designed to support caching of responses. This can reduce the need for repeated server-side processing and improve performance. Example: A web application caches GET requests for user profiles.

Resources are identified using URIs in RESTful APIs, providing a simple way for clients to point to a specific item within a dataset. Example: Accessing a user with GET /users/123

Clients interact with RESTful APIs by exchanging representations of resources, such as JSON or XML, which capture the current or intended state of those resources. Example: Updating a user's profile using a JSON representation with a PUT request.

In RESTful APIs, a client-server architecture separates client concerns from server concerns. Clients handle the user interface while servers handle data storage and processing. Example: A mobile app (client) communicates with a REST API (server) to fetch data.