These two phyla are Annelida and Arthropoda. The Annelids are segmented worms, and include earthworms, and leeches. These worms occur widely, in marine, aquatic and terrestrial habitats. The Arthropods are invertebrates with an exoskeleton, a segmented body, and paired jointed appendages. These include insects, arachnids, myriapods, and crustaceans.