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13 October 2014 Last updated at 20:55 BST
Workers from seven trade unions took part from 07:00 to 11:00 BST in England, while two unions were involved in Northern Ireland.
Unions and managers had met ahead of the action to ensure essential services were maintained.
The strike is being followed by four days of work-to-rule from Tuesday.
Giles Latcham reports for BBC Midlands Today.
About 20,000 NHS staff in the West Midlands region joined a national strike over pay, according to estimates by health unions.