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Re:Ask HN: What is REST exactly? by pfraze on Saturday February 08, 2014 @04:20PM (#7202786)
This is the most accurate answer I've seen here (in terms of how Fielding described it).

The way he defines it in the dissertation is as a series of architectural constraints which evoke certain properties [1]. Those constraints are titled with "Client-Server", "Stateless", "Cache", "Uniform Interface", "Layered System", and "Code-On-Demand".

Your description of link relations is also correct. Links are the basis of all REST interoperation, whether for humans or APIs. I've been evangelizing the use of the Link header [2], which benefits from

  1) a standard format regardless of content-type
  2) the ability to be fetched with HEAD
  3) the "relation type", which can be used to make strong assumptions about the endpoint
1. https://www.ics.uci.edu/~fielding/pubs/dissertation/rest_arc...

2. http://tools.ietf.org/html/rfc5988

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