Nematodes have body cavity that is not lined by middle layer or mesoderm. That’s why they are called as pseudocoelomates because of the presence of this pseudocoelum (false body cavity).
Arthropodes have open circulatory system as they lack blood vessels (veins and arteries) and heart pumps blood directly into body cavity in which organs are bathed.
Echinoderms are called so because of their hedgehog (Echinos in Greek) like skin (derma).