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The confusion is that the word "sonata" means two totally different things, and (kind of unfortunately) the two different meanings are often used together in the same context, meaning both different things.
-- It means those whole pieces that are called "sonatas." -- It also means a certain kind of form -- and very often, especially for the 1st movement of "sonatas," the form is sonata form.
And, very often, movements of sonatas are in "rondo" form, especially the last movements.
Another possible confusion, and maybe this is the main place you're coming from, is that some movements or pieces are sort of a hybrid of "sonata" and "rondo" forms -- and those are sometimes called "sonata rondo" form.
BTW, I hope you won't tell me that none of this has anything to do with what you were wondering.
I am very confused as I learnt a rondo by Mozart, and my teacher said it's more like sonata form, and now you are telling me his sonatas are in rondo
I think Mark already responded. A rondo is typically something like ABACA, with a refrain in the home key and contrasting couplets or episodes in other keys (typically Fur Elise for example). You can add more episodes too. The sonata rondo is a variant which combines the rondo form with the sonata form, something like ABACABA.
K485 is actually in spirit a rondo, and has also some elements of a sonata form, but is not really nor a true rondo nor a sonata rondo. It has an internal repeat like a sonata, but no true recap. The various episodes are also not contrasted but reusing the main theme components. The structure is ABAB C ADAEA, AB being a kind of repeated presentation, C the development, but no recap and instead 2 more episodes, alternating with the refrain.
...A sonata with a subject / theme (A), a development (B) and a recapitulation (?) section
Yeah, except you don't call the development "B." You don't call it anything but "development."
Terminology like "ABA" is usually reserved for a thing other than either "sonata" or "rondo." Like, most minuet and scherzo movements of sonatas and concertos (and I guess symphonies") are ABA, meaning that there's a first part, then a middle section (usually contrasting to the first part), then the first part again.
To understand, the rondo is the instrumental version of a french vocal form the rondeau. The rondeau was initially a poem with a particular form. Its musical song form is very old and there are already polyphonic composition in the 13th century like this one. The form is AB aAab AB with a musical refrain A or a and a couplet B or b, where the lower case is same music but different text.
The rondeau form was quite used in french baroque music. The sonata form on the other hand derives from a binary instrumental form which developed into rounded binary ABA and eventually into the more complex sonata form.
Text in old middle age french. Dont try google on it !