How did the Classical string quartet arrange its four movements?

The Classical string quartet is defined by a standard four-movement structure, a pattern largely established by Joseph Haydn in his Opus 17 and Opus 33 quartets. The movements are typically arranged as follows:12

• First Movement: Usually cast in sonata form, this movement features an exposition of two contrasting melodic ideas, a development section, and a recapitulation.3
• Second Movement: Generally set in a slow tempo, this movement may take the form of another sonata, a set of theme and variations, or other structures.3
• Third Movement: This movement is derived from dance and is written in triple metre. It typically consists of a minuet and trio (an aba form), though later composers like Ludwig van Beethoven often replaced the minuet with a faster, more exuberant scherzo.34
• Fourth Movement: Often a rondo, a set of variations, or another sonata form, this final movement is typically lively and spirited.35