The Glenoid fossa is so called when is not surrounded by the Glenoid labrum (which increases its depth and also increases the surface of contact with the head of the humerus). In a specimen (or in a human body) the glenoid labrum is present, therefore the Glenoid fossa is called Glenoid cavity (deeper). Basically the difference is in the presence of the glenoid labrum... not really the same thing.
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The glenoid fossa is a concavity on the temporal bone of the skull, while the glenoid cavity is a shallow socket on the scapula bone of the shoulder joint. The glenoid fossa is part of the skull's temporomandibular joint, where the mandible articulates. The glenoid cavity is part of the shoulder joint, where the humerus articulates.