There are several multi-movement Genres that are either born or reach a level of maturity in the classical period. These are the Symphony, Concert, Sonata and String Quartet.

These movements are usually:

1. Fast (Sonata Form)
2. Slow
3. Fast
4. Faster

Now…, to Haydn and the end of his String Quartet No. 30 from 1781. Here it is:

[audio:http://www.jaimeoliver.pe/snd/mh/class/joke.mp3]

The movement is in Rondo Form.