I agree with most of what the other posters are saying. These 'pretty' URLs won't do much for SEO but can be easier for users.
To answer your question. Assuming your .htaccess file looks something like this:
Where your index.php will take the "type" parameter as "article", "examples", "something else" etc. And "id" is the article id, then once the first two parameters are given, the rest make no difference.
RewriteRule ([^/]*)/([^/]*) index.php?type=$1&id=$2 [L]
All these links will resolve to the same article (index.php?type=article&id=5)
You can give it whatever title (in the link href) you wish.