Arbonne International has a great joint formula. Arbonne doesn't test on animals and doesn't use animal by-products.
Here's what they say about a couple of ingredients you were asking about:
While the Glucosamine Sulfate we use in our Joint Formula comes from the exoskeletons of shellfish, we do not harvest the exoskeletons or the shells with the animals in them; instead, we use the exoskeletons once the animals have left them. These exoskeletons are only the starting point for the materials. Because they go through several processing steps before becoming a final ingredient, the glucosamine is often considered a non-animal product/by-product, and does not typically cause any allergic reactions.
And they do not use Chondroitin.
My mom, step-dad, and grandmother use it and they all say that it is helping them a great deal.
If you are interested in finding out more or purchasing some. You can let me know at firstname.lastname@example.org
Hope that helps,