What are the mandatory (taklifi) Shar'i rulings, with an explanation of each?

There are five prescriptive rulings (al-ahkam al-taklifiyyah): the obligatory (wujub), the recommended (nadb), the permissible (ibahah), the disliked (karahah), and the forbidden (hurmah). The permissible (mubah) is that which one is allowed to do or to refrain from doing. The one who does it is not rewarded, and the one who refrains from it is not punished, for its own sake.