This paper presents a comprehensive taxonomy of so-called second order memory devices, which include charge-controlled memcapacitors and flux-controlled meminductors, among other novel circuit elements. These devices, which are classified according to their differential and state orders, are necessary to get a complete extension of the family of classical nonlinear circuit elements (resistors, capacitors, inductors) for all possible controlling variables. Using a fully nonlinear formalism, we obtain nondegeneracy conditions for a broad class of second order mem-circuits. This class of circuits is expected to yield a rich dynamic behavior; in this regard we explore certain bifurcation phenomena exhibited by a family of circuits including a charge-controlled memcapacitor and a flux-controlled meminductor, providing some directions for future research.