The Myriapodans have an uniramous (one branch) appendage that has a body with a long distinct head. They, like the Crustaceans, have a mandible, but only has a pair of antennae.
An example of this class would be the centipedes. They have a pair of jointed legs per segment. They use their poison claws to catch their preys of insects.
Instead of a pair of jointed legs like the Chilopoda, the Diplopodans have 2 pairs of jointed legs. They are also herbivores unlike the Chilopodans. An example of this class would be the millipedes.